updateStartStateToCurrent after execution

moveit · Jul 16, 2016 · b317a57 · b317a57
1 parent 49c7eb6
commit b317a57
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Showing 2 changed files with 13 additions and 0 deletions.
diff --git a/...n_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h b/...n_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_frame.h
@@ -210,6 +210,7 @@ private Q_SLOTS:
   void computeExecuteButtonClicked();
   void computePlanAndExecuteButtonClicked();
   void computePlanAndExecuteButtonClickedDisplayHelper();
+  void updateStartStateToCurrent();
   void populateConstraintsList();
   void populateConstraintsList(const std::vector<std::string> &constr);
   void configureForPlanning();

diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp b/moveit_ros/visualization/motion_planning_rviz_plugin/src/motion_planning_frame_planning.cpp
@@ -130,6 +130,8 @@ void MotionPlanningFrame::computeExecuteButtonClicked()
 {
   if (move_group_ && current_plan_)
     move_group_->execute(*current_plan_);
+
+  updateStartStateToCurrent();
 }
 
 void MotionPlanningFrame::computePlanAndExecuteButtonClicked()
@@ -139,6 +141,16 @@ void MotionPlanningFrame::computePlanAndExecuteButtonClicked()
   configureForPlanning();
   move_group_->move();
   ui_->plan_and_execute_button->setEnabled(true);
+
+  updateStartStateToCurrent();
+}
+
+void MotionPlanningFrame::updateStartStateToCurrent()
+{
+  if (ui_->start_state_selection->currentText() == "<current>")
+  {
+    useStartStateButtonClicked();
+  }
 }
 
 void MotionPlanningFrame::useStartStateButtonClicked()