From aee252538277be7924e41ebf44a1de1507075406 Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Thu, 22 Feb 2018 21:15:49 +0100 Subject: [PATCH] fix ModifyPlanningScene: pass stage properties to callback --- core/src/stages/modify_planning_scene.cpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/core/src/stages/modify_planning_scene.cpp b/core/src/stages/modify_planning_scene.cpp index 32fe4099..c3aca100 100644 --- a/core/src/stages/modify_planning_scene.cpp +++ b/core/src/stages/modify_planning_scene.cpp @@ -110,8 +110,6 @@ InterfaceState ModifyPlanningScene::apply(const InterfaceState& from, bool inver { planning_scene::PlanningScenePtr scene = from.scene()->diff(); InterfaceState result(scene); - // initialize properties from input state - result.properties() = from.properties(); // attach/detach objects for (const auto &pair : attach_objects_) @@ -122,7 +120,7 @@ InterfaceState ModifyPlanningScene::apply(const InterfaceState& from, bool inver enableCollisions(*scene, pairs, invert); if (callback_) - callback_(scene, result.properties()); + callback_(scene, properties()); return result; }