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https://github.com/moveit/moveit_task_constructor.git
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minor improvements: variable names, comments
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564f3b0514
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@ -106,7 +106,7 @@ public:
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InterfaceState(const planning_scene::PlanningSceneConstPtr& ps);
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/// copy an existing InterfaceState, but not including incoming/outgoing trajectories
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InterfaceState(const InterfaceState& existing);
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InterfaceState(const InterfaceState& other);
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inline const planning_scene::PlanningSceneConstPtr& scene() const { return scene_; }
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inline const Solutions& incomingTrajectories() const { return incoming_trajectories_; }
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@ -867,7 +867,7 @@ void ParallelContainerBase::spawn(InterfaceState &&state, SubTrajectory&& t)
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it->setEndState(*state_it);
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impl->failures_.push_back(&*it);
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} else {
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// directly spawn states in push interfaces
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// directly spawn states into push interfaces
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impl->prevEnds()->add(InterfaceState(state), NULL, &*it);
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impl->nextStarts()->add(std::move(state), &*it, NULL);
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impl->solutions_.insert(&*it);
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@ -50,8 +50,8 @@ InterfaceState::InterfaceState(const planning_scene::PlanningSceneConstPtr &ps)
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{
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}
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InterfaceState::InterfaceState(const InterfaceState &existing)
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: scene_(existing.scene_), properties_(existing.properties_)
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InterfaceState::InterfaceState(const InterfaceState &other)
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: scene_(other.scene_), properties_(other.properties_)
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{
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}
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@ -69,7 +69,7 @@ Interface::iterator Interface::add(InterfaceState &&state, SolutionBase* incomin
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// move state to a list node
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std::list<InterfaceState> container;
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auto it = container.insert(container.end(), std::move(state));
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assert(it->owner_ == nullptr);
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assert(it->owner_ == nullptr); // state can only be added once to an interface
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it->owner_ = this;
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// configure state: inherit priority from other end's state and add current solution's cost
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