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Fix pruning
Pruning - if acting on the external state - needs to pass the current stage (this).
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@ -944,9 +944,9 @@ void FallbacksPrivate::computePropagate(){
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}
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else {
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ROS_DEBUG_STREAM_NAMED("Fallbacks", "State failed to extend through any child, prune path");
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ContainerBasePrivate::onNewFailure(*children().back(),
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dir == Interface::FORWARD ? &*state : nullptr,
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dir == Interface::BACKWARD ? nullptr : &*state);
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parent()->pimpl()->onNewFailure(*me(),
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dir == Interface::FORWARD ? &*state : nullptr,
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dir == Interface::BACKWARD ? nullptr : &*state);
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}
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}
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else {
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