Default destructor for PlanningComponent (#1470) (#1645)

Signed-off-by: Tyler Weaver <tyler@picknik.ai>
(cherry picked from commit f95e110)

Co-authored-by: Tyler Weaver <tyler@picknik.ai>

moveit_ros/planning/moveit_cpp/include/moveit/moveit_cpp/planning_component.h

@@ -107,11 +107,11 @@ class PlanningComponent
   PlanningComponent(const PlanningComponent&) = delete;
   PlanningComponent& operator=(const PlanningComponent&) = delete;
 
-  PlanningComponent(PlanningComponent&& other) = default;
+  PlanningComponent(PlanningComponent&& other) = delete;
   PlanningComponent& operator=(PlanningComponent&& other) = delete;
 
   /** \brief Destructor */
-  ~PlanningComponent();
+  ~PlanningComponent() = default;
 
   /** \brief Get the name of the planning group */
   const std::string& getPlanningGroupName() const;
@@ -195,9 +195,6 @@ class PlanningComponent
   // TODO(henningkayser): implement path/trajectory constraints
   // std::unique_ptr<moveit_msgs::msg::Constraints> path_constraints_;
   // std::unique_ptr<moveit_msgs::msg::TrajectoryConstraints> trajectory_constraints_;
-
-  /** \brief Reset all member variables */
-  void clearContents();
 };
 }  // namespace moveit_cpp
 

moveit_ros/planning/moveit_cpp/src/planning_component.cpp

@@ -81,12 +81,6 @@ PlanningComponent::PlanningComponent(const std::string& group_name, const rclcpp
   planning_pipeline_names_ = moveit_cpp_->getPlanningPipelineNames(group_name);
 }
 
-PlanningComponent::~PlanningComponent()
-{
-  RCLCPP_INFO(LOGGER, "Deleting PlanningComponent '%s'", group_name_.c_str());
-  clearContents();
-}
-
 const std::vector<std::string> PlanningComponent::getNamedTargetStates()
 {
   if (joint_model_group_)
@@ -319,13 +313,4 @@ const PlanningComponent::PlanSolutionPtr PlanningComponent::getLastPlanSolution(
 {
   return last_plan_solution_;
 }
-
-void PlanningComponent::clearContents()
-{
-  considered_start_state_.reset();
-  last_plan_solution_.reset();
-  current_goal_constraints_.clear();
-  moveit_cpp_.reset();
-  planning_pipeline_names_.clear();
-}
 }  // namespace moveit_cpp