CompletionCriteria.h

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/*
 * Copyright 2015-2019 CNRS-UM LIRMM, CNRS-AIST JRL
 */
 
#pragma once
 
#include <mc_control/api.h>
#include <mc_tasks/MetaTask.h>
 
namespace mc_control
{
 
struct MC_CONTROL_DLLAPI CompletionCriteria
{
  bool completed(const mc_tasks::MetaTask & task);
 
  void configure(const mc_tasks::MetaTask & task, double dt, const mc_rtc::Configuration & config);
 
  const std::string & output() const;
 
private:
  std::function<bool(const mc_tasks::MetaTask &, std::string &)> build(const mc_tasks::MetaTask & task,
                                                                       double dt,
                                                                       const mc_rtc::Configuration & config);
  std::function<bool(const mc_tasks::MetaTask &, std::string &)> fn_ = [](const mc_tasks::MetaTask &, std::string &)
  { return true; };
  std::string output_;
};
 
} // namespace mc_control