simplify internal API

Author: rhaschke

core/include/moveit/task_constructor/container_p.h

@@ -119,18 +119,16 @@ class ContainerBasePrivate : public StagePrivate
 protected:
 	ContainerBasePrivate(ContainerBase* me, const std::string& name);
 
-	// Set child's push interfaces: allow pushing if child requires it or
-	// if the interface is unknown: in this case greedily assume a push interface.
-	// If, during pruneInterface() later, we notice that it's not needed, prune there.
-	inline void setChildsPushBackwardInterface(Stage& child) {
-		InterfaceFlags required = child.pimpl()->requiredInterface();
+	// Set child's push interfaces: allow pushing if child requires it.
+	inline void setChildsPushBackwardInterface(StagePrivate* child) {
+		InterfaceFlags required = child->requiredInterface();
 		bool allowed = (required & WRITES_PREV_END);
-		child.pimpl()->setPrevEnds(allowed ? pending_backward_ : InterfacePtr());
+		child->setPrevEnds(allowed ? pending_backward_ : InterfacePtr());
 	}
-	inline void setChildsPushForwardInterface(Stage& child) {
-		InterfaceFlags required = child.pimpl()->requiredInterface();
+	inline void setChildsPushForwardInterface(StagePrivate* child) {
+		InterfaceFlags required = child->requiredInterface();
 		bool allowed = (required & WRITES_NEXT_START);
-		child.pimpl()->setNextStarts(allowed ? pending_forward_ : InterfacePtr());
+		child->setNextStarts(allowed ? pending_forward_ : InterfacePtr());
 	}
 
 	/// copy external_state to a child's interface and remember the link in internal_to map

core/src/container.cpp

@@ -436,7 +436,7 @@ void SerialContainerPrivate::pruneInterface(InterfaceFlags accepted) {
 	// FIRST child
 	first.pimpl()->pruneInterface(accepted & START_IF_MASK);
 	// connect first child's (start) push interface
-	setChildsPushBackwardInterface(first);
+	setChildsPushBackwardInterface(first.pimpl());
 	// validate that first child's and this container's start interfaces match
 	validateInterface<START_IF_MASK>(*first.pimpl(), accepted);
 	// connect first child's (start) pull interface
@@ -453,7 +453,7 @@ void SerialContainerPrivate::pruneInterface(InterfaceFlags accepted) {
 	}
 
 	// connect last child's (end) push interface
-	setChildsPushForwardInterface(last);
+	setChildsPushForwardInterface(last.pimpl());
 	// validate that last child's and this container's end interfaces match
 	validateInterface<END_IF_MASK>(*last.pimpl(), accepted);
 	// connect last child's (end) pull interface
@@ -566,8 +566,8 @@ void ParallelContainerBasePrivate::pruneInterface(InterfaceFlags accepted) {
 			child_impl->pruneInterface(accepted);
 			validateInterfaces(*child_impl, accepted, first);
 			// initialize push connections of children according to their demands
-			setChildsPushForwardInterface(*child);
-			setChildsPushBackwardInterface(*child);
+			setChildsPushForwardInterface(child_impl);
+			setChildsPushBackwardInterface(child_impl);
 			first = false;
 		} catch (InitStageException& e) {
 			exceptions.append(e);