Fix pruning

Pruning - if acting on the external state - needs to pass the current stage (this).
This commit is contained in:
Robert Haschke 2021-09-16 23:37:15 +02:00
parent 6653c4853a
commit e5b20ac11f

View File

@ -944,9 +944,9 @@ void FallbacksPrivate::computePropagate(){
}
else {
ROS_DEBUG_STREAM_NAMED("Fallbacks", "State failed to extend through any child, prune path");
ContainerBasePrivate::onNewFailure(*children().back(),
dir == Interface::FORWARD ? &*state : nullptr,
dir == Interface::BACKWARD ? nullptr : &*state);
parent()->pimpl()->onNewFailure(*me(),
dir == Interface::FORWARD ? &*state : nullptr,
dir == Interface::BACKWARD ? nullptr : &*state);
}
}
else {