FixedState: add optional scene in constructor

This commit is contained in:
v4hn 2021-10-05 09:49:47 +02:00
parent e60a9793f1
commit dfe746b9bb
2 changed files with 3 additions and 2 deletions

View File

@ -48,7 +48,7 @@ namespace stages {
class FixedState : public Generator class FixedState : public Generator
{ {
public: public:
FixedState(const std::string& name = "initial state"); FixedState(const std::string& name = "initial state", planning_scene::PlanningScenePtr = nullptr);
void setState(const planning_scene::PlanningScenePtr& scene); void setState(const planning_scene::PlanningScenePtr& scene);
void reset() override; void reset() override;

View File

@ -43,7 +43,8 @@ namespace moveit {
namespace task_constructor { namespace task_constructor {
namespace stages { namespace stages {
FixedState::FixedState(const std::string& name) : Generator(name) { FixedState::FixedState(const std::string& name, planning_scene::PlanningScenePtr scene)
: Generator(name), scene_(scene) {
setCostTerm(std::make_unique<cost::Constant>(0.0)); setCostTerm(std::make_unique<cost::Constant>(0.0));
} }