do not allow write-access to default value

Defaults are not supposed to be modified by accident.
Instead, provide a writable reference to currentValue.

Author: v4hn

core/include/moveit/task_constructor/properties.h

@@ -133,9 +133,11 @@ class Property
 	/// is a value defined?
 	inline bool defined() const { return !(value_.empty() && default_.empty()); }
 
+	/// is a non-default value set?
+	inline bool hasCurrentValue() const { return !value_.empty(); }
+
 	/// get current value (or default if not set)
 	inline const boost::any& value() const { return value_.empty() ? default_ : value_; }
-	inline boost::any& value() { return value_.empty() ? default_ : value_; }
 
 	/// get typed value of property. Throws bad_any_cast on type mismatch, undefined if !defined().
 	template <typename T>
@@ -148,6 +150,8 @@ class Property
 
 	/// get default value
 	const boost::any& defaultValue() const { return default_; }
+	const boost::any& currentValue() const { return value_; }
+	boost::any& currentValue() { return value_; };
 
 	/// serialize value using registered functions
 	static std::string serialize(const boost::any& value);

core/src/properties.cpp

@@ -120,7 +120,7 @@ Property::Property() : Property(typeid(boost::any), "", boost::any()) {}
 
 void Property::setValue(const boost::any& value) {
 	setCurrentValue(value);
-	default_ = value_;
+	setDefaultValue(value_);
 	initialized_from_ = 0;
 }
 

core/src/stages/fixed_cartesian_poses.cpp

@@ -57,10 +57,10 @@ FixedCartesianPoses::FixedCartesianPoses(const std::string& name) : MonitoringGe
 
 void FixedCartesianPoses::addPose(const geometry_msgs::PoseStamped& pose) {
 	moveit::task_constructor::Property& poses = properties().property("poses");
-	if (!poses.defined())
-		poses.setValue(PosesList({ pose }));
+	if (!poses.hasCurrentValue())
+		poses.setCurrentValue(PosesList({ pose }));
 	else
-		boost::any_cast<PosesList&>(poses.value()).push_back(pose);
+		boost::any_cast<PosesList&>(poses.currentValue()).push_back(pose);
 }
 
 void FixedCartesianPoses::reset() {