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Copy planning scene predicates in the copy constructor #2858

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merged 2 commits into from
Jul 22, 2024
Merged

Copy planning scene predicates in the copy constructor #2858

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b77018d
Copy the predicates in the copy constructor of PlanningScene
May 29, 2024
26440a9
Copy the collision update callback in the copy constructor of Plannin…
May 29, 2024
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6 changes: 6 additions & 0 deletions moveit_core/planning_scene/src/planning_scene.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -210,6 +210,10 @@ PlanningScene::PlanningScene(const PlanningSceneConstPtr& parent) : parent_(pare

robot_model_ = parent_->robot_model_;

setStateFeasibilityPredicate(parent->getStateFeasibilityPredicate());
setMotionFeasibilityPredicate(parent->getMotionFeasibilityPredicate());
setCollisionObjectUpdateCallback(parent_->current_world_object_update_callback_);

// maintain a separate world. Copy on write ensures that most of the object
// info is shared until it is modified.
world_ = std::make_shared<collision_detection::World>(*parent_->world_);
Expand Down Expand Up @@ -1204,6 +1208,8 @@ void PlanningScene::decoupleParent()
}
}

setCollisionObjectUpdateCallback(nullptr);

parent_.reset();
}

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