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https://github.com/moveit/moveit_task_constructor.git
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make cost operators const
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1f8feaaf0a
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@ -66,7 +66,7 @@ struct LinkMotion
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{
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{
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LinkMotion(std::string link_name) : link_name(link_name) {}
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LinkMotion(std::string link_name) : link_name(link_name) {}
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double operator()(const SubTrajectory&, std::string&);
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double operator()(const SubTrajectory&, std::string&) const;
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std::string link_name;
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std::string link_name;
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};
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};
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@ -85,7 +85,7 @@ struct Clearance
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Interface::Direction interface = Interface::NONE)
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Interface::Direction interface = Interface::NONE)
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: with_world(with_world), cumulative(cumulative), group_property(group_property), interface(interface) {}
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: with_world(with_world), cumulative(cumulative), group_property(group_property), interface(interface) {}
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double operator()(const SubTrajectory& s, std::string& comment);
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double operator()(const SubTrajectory& s, std::string& comment) const;
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bool with_world;
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bool with_world;
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bool cumulative;
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bool cumulative;
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@ -64,7 +64,7 @@ double TrajectoryDuration(const SubTrajectory& s) {
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return s.trajectory() ? s.trajectory()->getDuration() : 0.0;
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return s.trajectory() ? s.trajectory()->getDuration() : 0.0;
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}
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}
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double LinkMotion::operator()(const SubTrajectory& s, std::string& comment) {
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double LinkMotion::operator()(const SubTrajectory& s, std::string& comment) const {
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const auto& traj{ s.trajectory() };
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const auto& traj{ s.trajectory() };
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if (traj == nullptr || traj->getWayPointCount() == 0)
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if (traj == nullptr || traj->getWayPointCount() == 0)
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@ -87,7 +87,7 @@ double LinkMotion::operator()(const SubTrajectory& s, std::string& comment) {
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return distance;
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return distance;
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}
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}
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double Clearance::operator()(const SubTrajectory& s, std::string& comment) {
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double Clearance::operator()(const SubTrajectory& s, std::string& comment) const {
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const std::string PREFIX{ "Clearance: " };
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const std::string PREFIX{ "Clearance: " };
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collision_detection::DistanceRequest request;
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collision_detection::DistanceRequest request;
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