Move TaskComposerProblem input to base class and change type to tesseract_common::AnyPoly #407
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…ract_common::AnyPoly
marip8
reviewed
Nov 6, 2023
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Since all tasks will now be required to put their input data in the problem directly, would it make more since for the executor to put the input data in the correct place in the internal data storage object, rather than having this separate task* do it? Otherwise, it seems like all pipelines from here on out will need to have this as the first task in the pipeline
* I understand this this task also checks that the input is a composite instruction, but it's other major function is to put the input data into the correct spot in the data storage object for downstream tasks
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Lets add it as an issue to investigate if this is the right thing to do.
Levi-Armstrong
merged commit fe80ad5
into
tesseract-robotics:master
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Addresses #399