grant access to subsolutions of a sequence

SubTrajectory allows to access the trajectory,
but for SolutionSequence is was not needed until now.
This commit is contained in:
v4hn 2020-05-19 09:31:11 +02:00
parent 98cac4fd7c
commit c662311a78

View File

@ -299,6 +299,8 @@ public:
/// append all subsolutions to solution
void fillMessage(moveit_task_constructor_msgs::Solution& msg, Introspection* introspection) const override;
const container_type& solutions() const { return subsolutions_; }
inline const InterfaceState* internalStart() const { return subsolutions_.front()->start(); }
inline const InterfaceState* internalEnd() const { return subsolutions_.back()->end(); }