streamline trait parameters

state asked for a reference, but trajectories for a pointer.

Author: v4hn

core/include/moveit/task_constructor/storage.h

@@ -391,14 +391,14 @@ inline const InterfaceState* state<Interface::BACKWARD>(const SolutionBase& solu
 
 /// Trait to retrieve outgoing (FORWARD) or incoming (BACKWARD) solution segments of a given state
 template <Interface::Direction dir>
-const InterfaceState::Solutions& trajectories(const InterfaceState* state);
+const InterfaceState::Solutions& trajectories(const InterfaceState& state);
 template <>
-inline const InterfaceState::Solutions& trajectories<Interface::FORWARD>(const InterfaceState* state) {
-	return state->outgoingTrajectories();
+inline const InterfaceState::Solutions& trajectories<Interface::FORWARD>(const InterfaceState& state) {
+	return state.outgoingTrajectories();
 }
 template <>
-inline const InterfaceState::Solutions& trajectories<Interface::BACKWARD>(const InterfaceState* state) {
-	return state->incomingTrajectories();
+inline const InterfaceState::Solutions& trajectories<Interface::BACKWARD>(const InterfaceState& state) {
+	return state.incomingTrajectories();
 }
 
 /// Trait to retrieve opposite direction (FORWARD <-> BACKWARD)

core/src/container.cpp

@@ -317,7 +317,7 @@ struct SolutionCollector
 	}
 
 	void traverse(const SolutionBase& start, const InterfaceState::Priority& prio) {
-		const InterfaceState::Solutions& next = trajectories<dir>(state<dir>(start));
+		const InterfaceState::Solutions& next = trajectories<dir>(*state<dir>(start));
 		if (next.empty()) {  // when reaching the end, add the trace to solutions
 			assert(prio.depth() == trace.size());
 			assert(prio.depth() <= max_depth);

core/src/stage.cpp

@@ -166,7 +166,7 @@ void StagePrivate::setStatus(const InterfaceState* s, InterfaceState::Status sta
 		status = InterfaceState::DISABLED;  // only the first state is marked as FAILED
 
 	// traverse solution tree
-	for (const SolutionBase* successor : trajectories<dir>(s))
+	for (const SolutionBase* successor : trajectories<dir>(*s))
 		setStatus<dir>(state<dir>(*successor), status);
 }
 template void StagePrivate::setStatus<Interface::FORWARD>(const InterfaceState* s, InterfaceState::Status status);