Copy planning scene predicates in the copy constructor #2858
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@galou thank you! Can you update your branch to main? CI should succeed now. |
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June 18, 2024 08:39
The child planning scene should behave as its parent, so the state- and motion- feasibility predicates should be copied as well. The copy of the collision update callback will be treated in a separate commit because I'm not quite sure how to do it properly. Signed-off-by: Gaël Écorchard <[email protected]>
…gScene The collision update callback (current_world_object_update_callback_) is copied in the copy constructor of PlanningScene to ensure that the child planning scene behaves the same way as its parent. It is reset in `decoupleParent()` to avoid calling the callback on a cloned planning scene, which would bring confusion. Signed-off-by: Gaël Écorchard <[email protected]>
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sjahr
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Jun 18, 2024
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Description
The child planning scene should behave as its parent, so the state- and motion- feasibility predicates should be copied as well.
The copy of the collision update callback is treated in a separate commit because I'm not quite sure how to do it properly. I guess that the cloned planning scene should not call the collision update callback to avoid confusion.
Often in the planning scene implementation, the child planning scene uses members of its parent when it doesn't have its own but this is not the case for the predicates so I did copy them.
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