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do not reset on plan
users can reset explicitly as needed.
Reset sends ROS messages and prevents { plan(1); plan(1) } style usage.
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@ -292,7 +292,6 @@ void Task::compute() {
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bool Task::plan(size_t max_solutions) {
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auto impl = pimpl();
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reset();
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init();
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impl->preempt_requested_ = false;
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