From f3a1abeb62f7dd1220997f76b354d7f142e3fd20 Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Thu, 18 Jul 2024 10:12:38 +0200 Subject: [PATCH] Minor cleanup --- core/include/moveit/task_constructor/stage_p.h | 5 +++-- core/src/stage.cpp | 4 ---- core/src/task.cpp | 2 +- 3 files changed, 4 insertions(+), 7 deletions(-) diff --git a/core/include/moveit/task_constructor/stage_p.h b/core/include/moveit/task_constructor/stage_p.h index 1814340ba..b965ac198 100644 --- 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* preempt_requested); + void setPreemptRequestedMember(const std::atomic* 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 index 36187ed16..9fbf4d27e 100644 --- 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* 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 index df7ff14a3..ab375d2c7 100644 --- 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*/) {