diff --git a/core/include/moveit/task_constructor/storage.h b/core/include/moveit/task_constructor/storage.h index f4e30104..3bf0e08f 100644 --- a/core/include/moveit/task_constructor/storage.h +++ b/core/include/moveit/task_constructor/storage.h @@ -331,6 +331,8 @@ public: void fillMessage(moveit_task_constructor_msgs::Solution& solution, Introspection* introspection = nullptr) const override; + const SolutionBase* wrapped() const { return wrapped_; } + private: const SolutionBase* wrapped_; };