accept const-refs in liftModifiedSolution

clang-tidy rightfully complained that moving rvalues doesn't make
sense when the underlying method accepts const refs.

The rvalue parameter interface, as it is used with spawn/etc. indicates
that the solution is submitted to the system. But with the shared_ptr interface
we need for `liftModifiedSolution` it does not make any sense, especially because
we can't even move the passed pointer to the internal datastructures but have to copy...

Author: v4hn

core/include/moveit/task_constructor/container.h

@@ -127,13 +127,13 @@ class ParallelContainerBase : public ContainerBase
 	void liftSolution(const SolutionBase& solution, double cost, std::string comment);
 
 	/// lift a modified solution based on the solution of a child stage
-	void liftModifiedSolution(SolutionBasePtr&& new_solution, const SolutionBase& child_solution);
+	void liftModifiedSolution(const SolutionBasePtr& new_solution, const SolutionBase& child_solution);
 	/// lift a modified solution, changing the (single!) new associated start or end InterfaceState
-	void liftModifiedSolution(SolutionBasePtr&& new_solution, InterfaceState&& new_propagated_state,
+	void liftModifiedSolution(const SolutionBasePtr& new_solution, InterfaceState&& new_propagated_state,
 	                          const SolutionBase& child_solution);
 	/// lift a modified solution, providing new start and end states
 	/// The new states will only be used if this's should actually create the corresponding states
-	void liftModifiedSolution(SolutionBasePtr&& new_solution, InterfaceState&& new_start_state,
+	void liftModifiedSolution(const SolutionBasePtr& new_solution, InterfaceState&& new_start_state,
 	                          InterfaceState&& new_end_state, const SolutionBase& child_solution);
 };
 

core/src/container.cpp

@@ -782,35 +782,34 @@ void ParallelContainerBase::liftSolution(const SolutionBase& solution, double co
 	                      solution.start(), solution.end());
 }
 
-void ParallelContainerBase::liftModifiedSolution(SolutionBasePtr&& modified_solution, const SolutionBase& child_solution) {
+void ParallelContainerBase::liftModifiedSolution(const SolutionBasePtr& modified_solution, const SolutionBase& child_solution) {
 	// child_solution is correctly prepared by a child of this container
 	assert(child_solution.creator());
 	assert(child_solution.creator()->parent() == this);
 
-	pimpl()->liftSolution(std::move(modified_solution),
-	                      child_solution.start(), child_solution.end());
+	pimpl()->liftSolution(modified_solution, child_solution.start(), child_solution.end());
 }
 
-void ParallelContainerBase::liftModifiedSolution(SolutionBasePtr&& new_solution, InterfaceState&& new_propagated_state, const SolutionBase& child_solution) {
+void ParallelContainerBase::liftModifiedSolution(const SolutionBasePtr& new_solution, InterfaceState&& new_propagated_state, const SolutionBase& child_solution) {
 	assert(child_solution.creator());
 	assert(child_solution.creator()->parent() == this);
 
 	if(pimpl()->requiredInterface() == GENERATE){
 		// in this case we need a second InterfaceState to move from
 		InterfaceState new_to{ new_propagated_state };
-		pimpl()->liftSolution(std::move(new_solution), child_solution.start(), child_solution.end(), &new_propagated_state, &new_to);
+		pimpl()->liftSolution(new_solution, child_solution.start(), child_solution.end(), &new_propagated_state, &new_to);
 	}
 	else {
 		// pass new_propagated_state as start *and* end. We know at most one will be used.
-		pimpl()->liftSolution(std::move(new_solution), child_solution.start(), child_solution.end(), &new_propagated_state, &new_propagated_state);
+		pimpl()->liftSolution(new_solution, child_solution.start(), child_solution.end(), &new_propagated_state, &new_propagated_state);
 	}
 }
 
-void ParallelContainerBase::liftModifiedSolution(SolutionBasePtr&& new_solution, InterfaceState&& new_from, InterfaceState&& new_to, const SolutionBase& child_solution) {
+void ParallelContainerBase::liftModifiedSolution(const SolutionBasePtr& new_solution, InterfaceState&& new_from, InterfaceState&& new_to, const SolutionBase& child_solution) {
 	assert(child_solution.creator());
 	assert(child_solution.creator()->parent() == this);
 
-	pimpl()->liftSolution(std::move(new_solution), child_solution.start(), child_solution.end(), &new_from, &new_to);
+	pimpl()->liftSolution(new_solution, child_solution.start(), child_solution.end(), &new_from, &new_to);
 }