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https://github.com/moveit/moveit_task_constructor.git
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add missing reset()
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@ -47,6 +47,7 @@ class GeneratePose : public MonitoringGenerator {
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public:
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public:
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GeneratePose(const std::string& name);
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GeneratePose(const std::string& name);
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void reset() override;
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bool canCompute() const override;
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bool canCompute() const override;
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bool compute() override;
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bool compute() override;
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@ -57,7 +58,7 @@ public:
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protected:
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protected:
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void onNewSolution(const SolutionBase& s) override;
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void onNewSolution(const SolutionBase& s) override;
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std::deque<planning_scene::PlanningSceneConstPtr> scenes_;
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std::deque<planning_scene::PlanningScenePtr> scenes_;
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};
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};
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} } }
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} } }
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@ -53,6 +53,12 @@ GeneratePose::GeneratePose(const std::string& name)
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p.declare<geometry_msgs::PoseStamped>("pose", "target pose to pass on in spawned states");
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p.declare<geometry_msgs::PoseStamped>("pose", "target pose to pass on in spawned states");
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}
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}
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void GeneratePose::reset()
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{
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MonitoringGenerator::reset();
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scenes_.clear();
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}
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void GeneratePose::onNewSolution(const SolutionBase& s)
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void GeneratePose::onNewSolution(const SolutionBase& s)
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{
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{
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scenes_.push_back(s.end()->scene()->diff());
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scenes_.push_back(s.end()->scene()->diff());
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