Pass pipeline map by reference

sjahr · Apr 20, 2023 · c0ea5cd · c0ea5cd
1 parent 9be2ab3
commit c0ea5cd
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/core/include/moveit/task_constructor/solvers/pipeline_planner.h b/core/include/moveit/task_constructor/solvers/pipeline_planner.h
@@ -81,7 +81,7 @@ class PipelinePlanner : public PlannerInterface
 	 */
 	PipelinePlanner(const rclcpp::Node::SharedPtr& node,
 	                const std::unordered_map<std::string, std::string>& pipeline_id_planner_id_map,
-	                const std::unordered_map<std::string, planning_pipeline::PlanningPipelinePtr> planning_pipelines =
+	                const std::unordered_map<std::string, planning_pipeline::PlanningPipelinePtr>& planning_pipelines =
 	                    std::unordered_map<std::string, planning_pipeline::PlanningPipelinePtr>(),
 						const moveit::planning_pipeline_interfaces::StoppingCriterionFunction& stopping_criterion_callback = &moveit::planning_pipeline_interfaces::stopAtFirstSolution,
     const moveit::planning_pipeline_interfaces::SolutionSelectionFunction& solution_selection_function = &moveit::planning_pipeline_interfaces::getShortestSolution);

diff --git a/core/src/solvers/pipeline_planner.cpp b/core/src/solvers/pipeline_planner.cpp
@@ -67,7 +67,7 @@ PipelinePlanner::PipelinePlanner(const rclcpp::Node::SharedPtr& node, const std:
 
 PipelinePlanner::PipelinePlanner(
     const rclcpp::Node::SharedPtr& node, const std::unordered_map<std::string, std::string>& pipeline_id_planner_id_map,
-    const std::unordered_map<std::string, planning_pipeline::PlanningPipelinePtr> planning_pipelines,
+    const std::unordered_map<std::string, planning_pipeline::PlanningPipelinePtr>& planning_pipelines,
     const moveit::planning_pipeline_interfaces::StoppingCriterionFunction& stopping_criterion_callback,
     const moveit::planning_pipeline_interfaces::SolutionSelectionFunction& solution_selection_function)
   : node_(node)