mirror of
https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
improve comments
This commit is contained in:
parent
44a75f689b
commit
6cf0cbb4c9
@ -187,12 +187,12 @@ SolutionSequencePtr Connect::makeSequential(const std::vector<robot_trajectory::
|
||||
{
|
||||
assert(sub_trajectories.size() + 1 == intermediate_scenes.size());
|
||||
auto scene_it = intermediate_scenes.begin();
|
||||
planning_scene::PlanningSceneConstPtr start = *scene_it;
|
||||
planning_scene::PlanningSceneConstPtr start_ps = *scene_it;
|
||||
const InterfaceState* state = &from;
|
||||
|
||||
SolutionSequence::container_type sub_solutions;
|
||||
for (const auto &sub : sub_trajectories) {
|
||||
planning_scene::PlanningSceneConstPtr end = *++scene_it;
|
||||
planning_scene::PlanningSceneConstPtr end_ps = *++scene_it;
|
||||
|
||||
auto inserted = subsolutions_.insert(subsolutions_.end(), SubTrajectory(sub));
|
||||
inserted->setCreator(pimpl_);
|
||||
@ -201,14 +201,15 @@ SolutionSequencePtr Connect::makeSequential(const std::vector<robot_trajectory::
|
||||
|
||||
// provide meaningful start/end states
|
||||
subsolutions_.back().setStartState(*state);
|
||||
state = &*states_.insert(states_.end(), InterfaceState(end));
|
||||
|
||||
if (sub_solutions.size() < sub_trajectories.size())
|
||||
// for all but last scene, create a new state
|
||||
if (sub_solutions.size() < sub_trajectories.size()) {
|
||||
state = &*states_.insert(states_.end(), InterfaceState(end_ps));
|
||||
subsolutions_.back().setEndState(*state);
|
||||
else
|
||||
} else
|
||||
subsolutions_.back().setEndState(to);
|
||||
|
||||
start = end;
|
||||
start_ps = end_ps;
|
||||
}
|
||||
|
||||
return std::make_shared<SolutionSequence>(std::move(sub_solutions));
|
||||
|
||||
Loading…
Reference in New Issue
Block a user