Minor cleanup

moveit · Jul 18, 2024 · f3a1abe · f3a1abe
1 parent 972c276
commit f3a1abe
Show file tree

Hide file tree

Showing 3 changed files with 4 additions and 7 deletions.
diff --git a/core/include/moveit/task_constructor/stage_p.h b/core/include/moveit/task_constructor/stage_p.h
@@ -62,7 +62,6 @@ class PreemptStageException : public std::exception
 {
 public:
 	explicit PreemptStageException() {}
-	const char* what() const noexcept override { return ""; }
 };
 
 class ContainerBase;
@@ -171,7 +170,9 @@ class StagePrivate
 	/** compute cost for solution through configured CostTerm */
 	void computeCost(const InterfaceState& from, const InterfaceState& to, SolutionBase& solution);
 
-	void setPreemptRequestedMember(const std::atomic<bool>* preempt_requested);
+	void setPreemptRequestedMember(const std::atomic<bool>* preempt_requested) {
+		preempt_requested_ = preempt_requested;
+	}
 	bool preempted() const { return preempt_requested_ != nullptr && *preempt_requested_; }
 
 protected:

diff --git a/core/src/stage.cpp b/core/src/stage.cpp
@@ -306,10 +306,6 @@ void StagePrivate::computeCost(const InterfaceState& from, const InterfaceState&
 	}
 }
 
-void StagePrivate::setPreemptRequestedMember(const std::atomic<bool>* preempt_requested) {
-	preempt_requested_ = preempt_requested;
-}
-
 Stage::Stage(StagePrivate* impl) : pimpl_(impl) {
 	assert(impl);
 	auto& p = properties();

diff --git a/core/src/task.cpp b/core/src/task.cpp
@@ -213,7 +213,7 @@ void Task::init() {
 	// task expects its wrapped child to push to both ends, this triggers interface resolution
 	stages()->pimpl()->resolveInterface(InterfaceFlags({ GENERATE }));
 
-	// provide introspection instance and prempted requested to all stages
+	// provide introspection instance and preempt_requested to all stages
 	auto* introspection = impl->introspection_.get();
 	impl->traverseStages(
 	    [introspection, impl](Stage& stage, int /*depth*/) {