diff --git a/include/moveit_task_constructor/debug.h b/include/moveit_task_constructor/debug.h index 9abed55b..7f429de3 100644 --- a/include/moveit_task_constructor/debug.h +++ b/include/moveit_task_constructor/debug.h @@ -17,9 +17,9 @@ bool publishSolution(ros::Publisher& pub, moveit_msgs::DisplayTrajectory& dt, void publishAllPlans(const Task &task, const std::string &topic = "task_plan", bool wait = true); class NewSolutionPublisher { - std::set published; - const Task &task; - ros::Publisher pub; + std::set published_; + const Task &task_; + ros::Publisher pub_; public: NewSolutionPublisher(const Task &task, const std::string &topic = "task_plan"); diff --git a/src/debug.cpp b/src/debug.cpp index 861d40bc..8335a457 100644 --- a/src/debug.cpp +++ b/src/debug.cpp @@ -41,22 +41,22 @@ void publishAllPlans(const Task &task, const std::string &topic, bool wait){ NewSolutionPublisher::NewSolutionPublisher(const Task &task, const std::string &topic) - : task(task) + : task_(task) { ros::NodeHandle n; - pub = n.advertise(topic, 1, true); + pub_ = n.advertise(topic, 1, true); } void NewSolutionPublisher::publish() { moveit_msgs::DisplayTrajectory dt; - robot_state::robotStateToRobotStateMsg(task.getCurrentRobotState(), dt.trajectory_start); - dt.model_id = task.getCurrentRobotState().getRobotModel()->getName(); + robot_state::robotStateToRobotStateMsg(task_.getCurrentRobotState(), dt.trajectory_start); + dt.model_id = task_.getCurrentRobotState().getRobotModel()->getName(); Task::SolutionCallback processor = [this,&dt](std::vector& solution) { bool all_published = true; for(const SubTrajectory* t : solution){ - auto result = published.insert(t); + auto result = published_.insert(t); // if t was not yet published, the insertion yields result.second == true all_published &= !result.second; } @@ -64,9 +64,9 @@ void NewSolutionPublisher::publish() if(all_published) return true; - return publishSolution(pub, dt, solution, false); + return publishSolution(pub_, dt, solution, false); }; - task.processSolutions(processor); + task_.processSolutions(processor); } } }