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https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
initialize default CostTerm in constructor
It seems to be too fragile to rely on `init` being called. On the other hand we should really enforce this anyway. -.-
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@ -97,7 +97,12 @@ std::ostream& operator<<(std::ostream& os, const InitStageException& e) {
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}
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StagePrivate::StagePrivate(Stage* me, const std::string& name)
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: me_(me), name_(name), total_compute_time_{}, parent_(nullptr), introspection_(nullptr) {}
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: me_{ me }
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, name_{ name }
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, cost_term_{ std::make_unique<CostTerm>() }
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, total_compute_time_{}
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, parent_{ nullptr }
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, introspection_{ nullptr } {}
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InterfaceFlags StagePrivate::interfaceFlags() const {
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InterfaceFlags f;
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@ -301,10 +306,6 @@ void Stage::reset() {
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void Stage::init(const moveit::core::RobotModelConstPtr& /* robot_model */) {
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auto impl = pimpl();
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// add a default cost term if none was given by the user
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if (!impl->cost_term_)
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impl->cost_term_ = std::make_unique<CostTerm>();
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// init properties once from parent
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impl->properties_.reset();
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if (impl->parent()) {
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