mirror of
https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
fix ModifyPlanningScene: pass stage properties to callback
This commit is contained in:
parent
b767e359e9
commit
aee2525382
@ -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;
|
||||||
}
|
}
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user