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MoveTo/MoveRelative: report failure on invalid trajectories (#107)
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@ -290,8 +290,9 @@ bool MoveRelative::compute(const InterfaceState& state, planning_scene::Planning
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solution.setTrajectory(robot_trajectory);
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solution.setTrajectory(robot_trajectory);
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if (!success)
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if (!success)
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solution.markAsFailure();
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solution.markAsFailure();
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return true;
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}
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}
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return true;
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return false;
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}
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}
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void MoveRelative::computeForward(const InterfaceState& from) {
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void MoveRelative::computeForward(const InterfaceState& from) {
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@ -246,12 +246,12 @@ bool MoveTo::compute(const InterfaceState& state, planning_scene::PlanningSceneP
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if (!success)
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if (!success)
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solution.markAsFailure();
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solution.markAsFailure();
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return true;
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}
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}
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return true;
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return false;
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}
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}
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// -1 TODO: move these as default implementation to PropagateEitherWay?
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// Essentially, here compute() is a class-specific worker function
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void MoveTo::computeForward(const InterfaceState& from) {
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void MoveTo::computeForward(const InterfaceState& from) {
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planning_scene::PlanningScenePtr to;
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planning_scene::PlanningScenePtr to;
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SubTrajectory trajectory;
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SubTrajectory trajectory;
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