fix ModifyPlanningScene: pass stage properties to callback

This commit is contained in:
Robert Haschke 2018-02-22 21:15:49 +01:00
parent b767e359e9
commit aee2525382

View File

@ -110,8 +110,6 @@ InterfaceState ModifyPlanningScene::apply(const InterfaceState& from, bool inver
{ {
planning_scene::PlanningScenePtr scene = from.scene()->diff(); planning_scene::PlanningScenePtr scene = from.scene()->diff();
InterfaceState result(scene); InterfaceState result(scene);
// initialize properties from input state
result.properties() = from.properties();
// attach/detach objects // attach/detach objects
for (const auto &pair : attach_objects_) for (const auto &pair : attach_objects_)
@ -122,7 +120,7 @@ InterfaceState ModifyPlanningScene::apply(const InterfaceState& from, bool inver
enableCollisions(*scene, pairs, invert); enableCollisions(*scene, pairs, invert);
if (callback_) if (callback_)
callback_(scene, result.properties()); callback_(scene, properties());
return result; return result;
} }