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https://github.com/moveit/moveit_task_constructor.git
synced 2025-09-27 00:29:13 +08:00
Cosmetic fixes
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795bde7b62
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@ -64,13 +64,13 @@ public:
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void init(const moveit::core::RobotModelConstPtr& robot_model) override;
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Result plan(const planning_scene::PlanningSceneConstPtr& from, const planning_scene::PlanningSceneConstPtr& to,
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const moveit::core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
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const moveit::core::JointModelGroup* jmg, double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
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Result plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
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const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg,
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double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
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const Eigen::Isometry3d& offset, const Eigen::Isometry3d& target, const moveit::core::JointModelGroup* jmg,
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double timeout, robot_trajectory::RobotTrajectoryPtr& result,
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const moveit_msgs::Constraints& path_constraints = moveit_msgs::Constraints()) override;
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};
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} // namespace solvers
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} // namespace task_constructor
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@ -90,7 +90,7 @@ void GenerateRandomPose::compute() {
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const SolutionBase& s = *upstream_solutions_.pop();
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planning_scene::PlanningScenePtr scene = s.end()->scene()->diff();
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geometry_msgs::PoseStamped seed_pose = properties().get<geometry_msgs::PoseStamped>("pose");
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auto seed_pose = properties().get<geometry_msgs::PoseStamped>("pose");
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if (seed_pose.header.frame_id.empty())
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seed_pose.header.frame_id = scene->getPlanningFrame();
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else if (!scene->knowsFrameTransform(seed_pose.header.frame_id)) {
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@ -116,7 +116,7 @@ void GenerateRandomPose::compute() {
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if (pose_dimension_samplers_.empty())
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return;
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geometry_msgs::PoseStamped sample_pose = seed_pose;
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auto sample_pose = seed_pose;
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Eigen::Isometry3d seed, sample;
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tf2::fromMsg(seed_pose.pose, seed);
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double elapsed_time = 0.0;
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@ -38,7 +38,7 @@ if (CATKIN_ENABLE_TESTING)
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mtc_add_gtest(test_stage.cpp)
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mtc_add_gtest(test_container.cpp)
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mtc_add_gmock(test_serial.cpp)
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mtc_add_gtest(test_pruning.cpp)
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mtc_add_gmock(test_pruning.cpp)
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mtc_add_gtest(test_properties.cpp)
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mtc_add_gtest(test_cost_terms.cpp)
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@ -3,8 +3,6 @@
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#include "stage_mockups.h"
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#include <gtest/gtest.h>
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namespace moveit {
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namespace task_constructor {
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