diff --git a/core/include/moveit/task_constructor/container.h b/core/include/moveit/task_constructor/container.h index 8aa557a9..f1767f98 100644 --- a/core/include/moveit/task_constructor/container.h +++ b/core/include/moveit/task_constructor/container.h @@ -81,7 +81,7 @@ public: protected: ContainerBase(ContainerBasePrivate* impl); -private: + /// most containers should only use setCostTransform and leave the costs to their children using Stage::setCostTerm; }; std::ostream& operator<<(std::ostream& os, const ContainerBase& stage); @@ -227,6 +227,9 @@ public: bool canCompute() const override; void compute() override; + // Wrappers sometimes do the real work (e.g., IK), so they can specify costs + using Stage::setCostTerm; + protected: WrapperBase(WrapperBasePrivate* impl, Stage::pointer&& child = Stage::pointer()); };