minor improvements: variable names, comments

This commit is contained in:
Robert Haschke 2018-04-09 17:36:26 +02:00
parent 564f3b0514
commit 51e1dda6ec
3 changed files with 5 additions and 5 deletions

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@ -106,7 +106,7 @@ public:
InterfaceState(const planning_scene::PlanningSceneConstPtr& ps); InterfaceState(const planning_scene::PlanningSceneConstPtr& ps);
/// copy an existing InterfaceState, but not including incoming/outgoing trajectories /// copy an existing InterfaceState, but not including incoming/outgoing trajectories
InterfaceState(const InterfaceState& existing); InterfaceState(const InterfaceState& other);
inline const planning_scene::PlanningSceneConstPtr& scene() const { return scene_; } inline const planning_scene::PlanningSceneConstPtr& scene() const { return scene_; }
inline const Solutions& incomingTrajectories() const { return incoming_trajectories_; } inline const Solutions& incomingTrajectories() const { return incoming_trajectories_; }

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@ -867,7 +867,7 @@ void ParallelContainerBase::spawn(InterfaceState &&state, SubTrajectory&& t)
it->setEndState(*state_it); it->setEndState(*state_it);
impl->failures_.push_back(&*it); impl->failures_.push_back(&*it);
} else { } else {
// directly spawn states in push interfaces // directly spawn states into push interfaces
impl->prevEnds()->add(InterfaceState(state), NULL, &*it); impl->prevEnds()->add(InterfaceState(state), NULL, &*it);
impl->nextStarts()->add(std::move(state), &*it, NULL); impl->nextStarts()->add(std::move(state), &*it, NULL);
impl->solutions_.insert(&*it); impl->solutions_.insert(&*it);

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@ -50,8 +50,8 @@ InterfaceState::InterfaceState(const planning_scene::PlanningSceneConstPtr &ps)
{ {
} }
InterfaceState::InterfaceState(const InterfaceState &existing) InterfaceState::InterfaceState(const InterfaceState &other)
: scene_(existing.scene_), properties_(existing.properties_) : scene_(other.scene_), properties_(other.properties_)
{ {
} }
@ -69,7 +69,7 @@ Interface::iterator Interface::add(InterfaceState &&state, SolutionBase* incomin
// move state to a list node // move state to a list node
std::list<InterfaceState> container; std::list<InterfaceState> container;
auto it = container.insert(container.end(), std::move(state)); auto it = container.insert(container.end(), std::move(state));
assert(it->owner_ == nullptr); assert(it->owner_ == nullptr); // state can only be added once to an interface
it->owner_ = this; it->owner_ = this;
// configure state: inherit priority from other end's state and add current solution's cost // configure state: inherit priority from other end's state and add current solution's cost