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https://github.com/moveit/moveit_task_constructor.git
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refactor addCost->computeCost
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d2bd0a0037
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1f8feaaf0a
@ -158,7 +158,7 @@ public:
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*
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* @return true if solution remains feasible (is no failure)
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*/
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bool addCost(SolutionBase& solution);
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bool computeCost(SolutionBase& solution);
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protected:
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// associated/owning Stage instance
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@ -156,7 +156,7 @@ void StagePrivate::sendForward(const InterfaceState& from, InterfaceState&& to,
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solution->setStartState(from);
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solution->setEndState(*to_it);
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if (!solution->isFailure() && addCost(*solution)) {
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if (!solution->isFailure() && computeCost(*solution)) {
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nextStarts()->add(*to_it);
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}
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@ -174,7 +174,7 @@ void StagePrivate::sendBackward(InterfaceState&& from, const InterfaceState& to,
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solution->setStartState(*from_it);
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solution->setEndState(to);
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if (!solution->isFailure() && addCost(*solution))
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if (!solution->isFailure() && computeCost(*solution))
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prevEnds()->add(*from_it);
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newSolution(solution);
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@ -191,7 +191,7 @@ void StagePrivate::spawn(InterfaceState&& state, const SolutionBasePtr& solution
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solution->setStartState(*from);
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solution->setEndState(*to);
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if (!solution->isFailure() && addCost(*solution)) {
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if (!solution->isFailure() && computeCost(*solution)) {
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prevEnds()->add(*from);
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nextStarts()->add(*to);
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}
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@ -207,7 +207,7 @@ void StagePrivate::connect(const InterfaceState& from, const InterfaceState& to,
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solution->setEndState(to);
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if (!solution->isFailure())
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addCost(*solution);
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computeCost(*solution);
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newSolution(solution);
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}
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@ -221,7 +221,7 @@ void StagePrivate::newSolution(const SolutionBasePtr& solution) {
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parent()->onNewSolution(*solution);
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}
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bool StagePrivate::addCost(SolutionBase& solution) {
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bool StagePrivate::computeCost(SolutionBase& solution) {
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double cost{ 0.0 };
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auto* trajectory{ dynamic_cast<const SubTrajectory*>(&solution) };
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