mirror of
https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
Optimize setStatus(): only escalate to parent interface at boundaries of a partial solution
In all other cases internalToExternalMap().find(s) will fail anyway.
This commit is contained in:
parent
47d20984ae
commit
9da3a8055e
@ -162,7 +162,7 @@ void ContainerBasePrivate::setStatus(const InterfaceState* s, InterfaceState::St
|
||||
}
|
||||
|
||||
// if possible (i.e. if state s has an external counterpart), escalate setStatus to external interface
|
||||
if (parent()) {
|
||||
if (parent() && trajectories<dir>(*s).empty()) {
|
||||
auto external{ internalToExternalMap().find(s) };
|
||||
if (external != internalToExternalMap().end()) { // do we have an external state?
|
||||
// only escalate if there is no other *enabled* internal state connected to the same external one
|
||||
|
||||
Loading…
Reference in New Issue
Block a user