diff --git a/core/include/moveit/task_constructor/storage.h b/core/include/moveit/task_constructor/storage.h index 5bf81a1f..25aa8c51 100644 --- a/core/include/moveit/task_constructor/storage.h +++ b/core/include/moveit/task_constructor/storage.h @@ -248,7 +248,7 @@ public: Introspection* introspection = nullptr) const = 0; void fillInfo(moveit_task_constructor_msgs::SolutionInfo& info, Introspection* introspection = nullptr) const; - /// compute cost of this solution according to the specified CostTerm + /// required to dispatch to type-specific CostTerm methods via vtable virtual double computeCost(const CostTerm& cost, std::string& comment) const = 0; /// order solutions by their cost @@ -327,7 +327,6 @@ public: /// append all subsolutions to solution void fillMessage(moveit_task_constructor_msgs::Solution& msg, Introspection* introspection) const override; - /// aggregate costs along the sequence double computeCost(const CostTerm& cost, std::string& comment) const override; const container_type& solutions() const { return subsolutions_; } @@ -359,7 +358,7 @@ public: : WrappedSolution(creator, wrapped, wrapped->cost()) {} void fillMessage(moveit_task_constructor_msgs::Solution& solution, Introspection* introspection = nullptr) const override; - /// compute cost of wrapped child + double computeCost(const CostTerm& cost, std::string& comment) const override; const SolutionBase* wrapped() const { return wrapped_; }