Remove unnecessary TODOs

moveit · Aug 31, 2022 · 82901cc · 82901cc
1 parent 9dcb195
commit 82901cc
Showing 1 changed file with 3 additions and 5 deletions.
diff --git a/moveit_ros/planning/moveit_cpp/src/planning_component.cpp b/moveit_ros/planning/moveit_cpp/src/planning_component.cpp
@@ -151,7 +151,7 @@ PlanningComponent::PlanSolution PlanningComponent::plan(const PlanRequestParamet
     req.workspace_parameters = workspace_parameters_;
 
   // Set start state
-  moveit::core::RobotStatePtr start_state = considered_start_state_;  // TODO pass as function argument
+  moveit::core::RobotStatePtr start_state = considered_start_state_;
   if (!start_state)
     start_state = moveit_cpp_->getCurrentState();
   start_state->update();
@@ -169,17 +169,15 @@ PlanningComponent::PlanSolution PlanningComponent::plan(const PlanRequestParamet
     }
     return *plan_solution;
   }
-  req.goal_constraints = current_goal_constraints_;  // TODO pass as function argument
-
+  req.goal_constraints = current_goal_constraints_;
   // Set path constraints
   req.path_constraints = current_path_constraints_;
   // Set trajectory constraints
   req.trajectory_constraints = current_trajectory_constraints_;
 
   // Run planning attempt
   ::planning_interface::MotionPlanResponse res;
-  if (planning_pipeline_names_.find(parameters.planning_pipeline) ==
-      planning_pipeline_names_.end())  // TODO pass as function argument
+  if (planning_pipeline_names_.find(parameters.planning_pipeline) == planning_pipeline_names_.end())
   {
     RCLCPP_ERROR(LOGGER, "No planning pipeline available for name '%s'", parameters.planning_pipeline.c_str());
     plan_solution->error_code = moveit::core::MoveItErrorCode::FAILURE;