Remove toMessage() in favor of static_cast

moveit · Oct 27, 2023 · 954dc76 · 954dc76
1 parent 591bfa1
commit 954dc76
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Showing 3 changed files with 1 addition and 24 deletions.
diff --git a/moveit_core/planning_interface/include/moveit/planning_interface/planning_request.h b/moveit_core/planning_interface/include/moveit/planning_interface/planning_request.h
@@ -50,8 +50,6 @@ struct MotionPlanRequest : moveit_msgs::msg::MotionPlanRequest
   MotionPlanRequest(moveit_msgs::msg::MotionPlanRequest request_msg = moveit_msgs::msg::MotionPlanRequest(),
                     planning_interface::StateCostFn state_cost_function = nullptr);
   planning_interface::StateCostFn state_cost_function = nullptr;
-
-  [[nodiscard]] moveit_msgs::msg::MotionPlanRequest toMessage() const;
 };
 
 }  // namespace planning_interface
diff --git a/moveit_core/planning_interface/src/planning_request.cpp b/moveit_core/planning_interface/src/planning_request.cpp
@@ -43,25 +43,4 @@ MotionPlanRequest::MotionPlanRequest(moveit_msgs::msg::MotionPlanRequest request
   : moveit_msgs::msg::MotionPlanRequest{ std::move(request_msg) }, state_cost_function{ std::move(state_cost_function) }
 {
 }
-
-moveit_msgs::msg::MotionPlanRequest MotionPlanRequest::toMessage() const
-{
-  moveit_msgs::msg::MotionPlanRequest request_msg;
-  request_msg.workspace_parameters = workspace_parameters;
-  request_msg.start_state = start_state;
-  request_msg.goal_constraints = goal_constraints;
-  request_msg.path_constraints = path_constraints;
-  request_msg.trajectory_constraints = trajectory_constraints;
-  request_msg.reference_trajectories = reference_trajectories;
-  request_msg.pipeline_id = pipeline_id;
-  request_msg.planner_id = planner_id;
-  request_msg.group_name = group_name;
-  request_msg.num_planning_attempts = num_planning_attempts;
-  request_msg.allowed_planning_time = allowed_planning_time;
-  request_msg.max_velocity_scaling_factor = max_velocity_scaling_factor;
-  request_msg.max_acceleration_scaling_factor = max_acceleration_scaling_factor;
-  request_msg.cartesian_speed_limited_link = cartesian_speed_limited_link;
-  request_msg.max_cartesian_speed = max_cartesian_speed;
-  return request_msg;
-}
 }  // namespace planning_interface
diff --git a/moveit_ros/planning/planning_pipeline/src/planning_pipeline.cpp b/moveit_ros/planning/planning_pipeline/src/planning_pipeline.cpp
@@ -203,7 +203,7 @@ bool planning_pipeline::PlanningPipeline::generatePlan(const planning_scene::Pla
   // broadcast the request we are about to work on, if needed
   if (publish_received_requests)
   {
-    received_request_publisher_->publish(req.toMessage());
+    received_request_publisher_->publish(static_cast<moveit_msgs::msg::MotionPlanRequest>(req));
   }
 
   // ---------------------------------