Revert PlanningSceneMonitorConstPtr to PlanningSceneMonitorPtr

moveit · Mar 21, 2023 · c036324 · c036324
1 parent 9c208df
commit c036324
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Showing 3 changed files with 4 additions and 4 deletions.
diff --git a/...traint_solver_plugins/include/moveit/local_constraint_solver_plugins/forward_trajectory.h b/...traint_solver_plugins/include/moveit/local_constraint_solver_plugins/forward_trajectory.h
@@ -51,7 +51,7 @@ class ForwardTrajectory : public LocalConstraintSolverInterface
   ForwardTrajectory() = default;
   ~ForwardTrajectory() override = default;
   bool initialize(const rclcpp::Node::SharedPtr& node,
-                  const planning_scene_monitor::PlanningSceneMonitorConstPtrPtr& planning_scene_monitor,
+                  const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
                   const std::string& /* unused */) override;
   bool reset() override;
 
@@ -62,7 +62,7 @@ class ForwardTrajectory : public LocalConstraintSolverInterface
 
 private:
   rclcpp::Node::SharedPtr node_;
-  planning_scene_monitor::PlanningSceneMonitorConstPtrPtr planning_scene_monitor_;
+  planning_scene_monitor::PlanningSceneMonitorPtr planning_scene_monitor_;
   bool path_invalidation_event_send_;  // Send path invalidation event only once
   bool stop_before_collision_;
 

diff --git a/.../hybrid_planning/local_planner/local_constraint_solver_plugins/src/forward_trajectory.cpp b/.../hybrid_planning/local_planner/local_constraint_solver_plugins/src/forward_trajectory.cpp
@@ -49,7 +49,7 @@ constexpr double COLLISION_THRESHOLD = 0.01;  // Stop if closer than this [meter
 namespace moveit::hybrid_planning
 {
 bool ForwardTrajectory::initialize(const rclcpp::Node::SharedPtr& node,
-                                   const planning_scene_monitor::PlanningSceneMonitorConstPtr& planning_scene_monitor,
+                                   const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
                                    const std::string& /* unused */)
 {
   // Load parameter & initialize member variables

diff --git a/.../local_planner_component/include/moveit/local_planner/local_constraint_solver_interface.h b/.../local_planner_component/include/moveit/local_planner/local_constraint_solver_interface.h
@@ -70,7 +70,7 @@ class LocalConstraintSolverInterface
    * @return True if initialization was successful
    */
   virtual bool initialize(const rclcpp::Node::SharedPtr& node,
-                          const planning_scene_monitor::PlanningSceneMonitorConstPtr& planning_scene_monitor,
+                          const planning_scene_monitor::PlanningSceneMonitorPtr& planning_scene_monitor,
                           const std::string& group_name) = 0;
 
   /**