mirror of
https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
FixedState: add optional scene in constructor
This commit is contained in:
parent
e60a9793f1
commit
dfe746b9bb
@ -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;
|
||||||
|
|||||||
@ -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));
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user