noop.h

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/* Authors: Captain Yoshi */
 
#pragma once
 
#include <moveit/task_constructor/stage.h>
#include <moveit/planning_scene/planning_scene.h>
 
namespace moveit {
namespace task_constructor {
namespace stages {
 
class NoOp : public PropagatingEitherWay
{
public:
    NoOp(const std::string& name = "no-op") : PropagatingEitherWay(name){};
 
private:
    bool compute(const InterfaceState& state, planning_scene::PlanningScenePtr& scene, SubTrajectory& /*trajectory*/,
                 Interface::Direction /*dir*/) override {
        scene = state.scene()->diff();
        return true;
    };
};
}  // namespace stages
}  // namespace task_constructor
}  // namespace moveit