From c662311a78f049f973c36eaf6f8d676640833958 Mon Sep 17 00:00:00 2001 From: v4hn Date: Tue, 19 May 2020 09:31:11 +0200 Subject: [PATCH] grant access to subsolutions of a sequence SubTrajectory allows to access the trajectory, but for SolutionSequence is was not needed until now. --- 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 4f5ad6ac..c4536712 100644 --- a/core/include/moveit/task_constructor/storage.h +++ b/core/include/moveit/task_constructor/storage.h @@ -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(); }