From c510c6b5b665f7e7bb7f2b99ca5a032168a13504 Mon Sep 17 00:00:00 2001 From: v4hn Date: Wed, 19 Aug 2020 21:19:49 +0200 Subject: [PATCH] WrappedSolution: expose child solution SolutionSequence allows to access children already, but WrappedSolution blocked access to the full hierarchy. --- core/include/moveit/task_constructor/storage.h | 2 ++ 1 file changed, 2 insertions(+) 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_; };