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FixedState: add optional scene in constructor
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@ -48,7 +48,7 @@ namespace stages {
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class FixedState : public Generator
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{
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public:
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FixedState(const std::string& name = "initial state");
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FixedState(const std::string& name = "initial state", planning_scene::PlanningScenePtr = nullptr);
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void setState(const planning_scene::PlanningScenePtr& scene);
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void reset() override;
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@ -43,7 +43,8 @@ namespace moveit {
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namespace task_constructor {
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namespace stages {
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FixedState::FixedState(const std::string& name) : Generator(name) {
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FixedState::FixedState(const std::string& name, planning_scene::PlanningScenePtr scene)
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: Generator(name), scene_(scene) {
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setCostTerm(std::make_unique<cost::Constant>(0.0));
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}
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