remove results from TaskComposerNodeInfo

tesseract-robotics · Nov 5, 2023 · b7b7177 · b7b7177
1 parent d2b11de
commit b7b7177
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Showing 3 changed files with 4 additions and 9 deletions.
diff --git a/tesseract_motion_planners/core/src/utils.cpp b/tesseract_motion_planners/core/src/utils.cpp
@@ -317,8 +317,8 @@ bool contactCheckProgram(std::vector<tesseract_collision::ContactResultMap>& con
   {
     // Grab the first waypoint to get the joint names
     const auto& joint_names = getJointNames(mi.front().get().as<MoveInstructionPoly>().getWaypoint());
-    traj_contacts = std::make_unique<tesseract_collision::ContactTrajectoryResults>(joint_names,
-                                                                                    static_cast<int>(program.size()));
+    traj_contacts =
+        std::make_unique<tesseract_collision::ContactTrajectoryResults>(joint_names, static_cast<int>(program.size()));
   }
 
   contacts.clear();
@@ -624,8 +624,8 @@ bool contactCheckProgram(std::vector<tesseract_collision::ContactResultMap>& con
   {
     // Grab the first waypoint to get the joint names
     const auto& joint_names = getJointNames(mi.front().get().as<MoveInstructionPoly>().getWaypoint());
-    traj_contacts = std::make_unique<tesseract_collision::ContactTrajectoryResults>(joint_names,
-                                                                                    static_cast<int>(program.size()));
+    traj_contacts =
+        std::make_unique<tesseract_collision::ContactTrajectoryResults>(joint_names, static_cast<int>(program.size()));
   }
 
   contacts.clear();

diff --git a/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_node_info.h b/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_node_info.h
@@ -81,9 +81,6 @@ class TaskComposerNodeInfo
   /** @brief The output keys */
   std::vector<std::string> output_keys;
 
-  /** @brief Store the results of the task */
-  tesseract_common::AnyPoly results;
-
   /** @brief Value returned from the Task on completion */
   int return_value{ -1 };
 

diff --git a/tesseract_task_composer/core/src/task_composer_node_info.cpp b/tesseract_task_composer/core/src/task_composer_node_info.cpp
@@ -58,7 +58,6 @@ bool TaskComposerNodeInfo::operator==(const TaskComposerNodeInfo& rhs) const
   equal &= name == rhs.name;
   equal &= uuid == rhs.uuid;
   equal &= parent_uuid == rhs.parent_uuid;
-  equal &= results == rhs.results;
   equal &= return_value == rhs.return_value;
   equal &= message == rhs.message;
   equal &= tesseract_common::almostEqualRelativeAndAbs(elapsed_time, rhs.elapsed_time, max_diff);
@@ -84,7 +83,6 @@ void TaskComposerNodeInfo::serialize(Archive& ar, const unsigned int /*version*/
   ar& boost::serialization::make_nvp("name", name);
   ar& boost::serialization::make_nvp("uuid", uuid);
   ar& boost::serialization::make_nvp("parent_uuid", parent_uuid);
-  ar& boost::serialization::make_nvp("results", results);
   ar& boost::serialization::make_nvp("return_value", return_value);
   ar& boost::serialization::make_nvp("message", message);
   ar& boost::serialization::make_nvp("elapsed_time", elapsed_time);