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Rework execution#459

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rhaschke wants to merge 8 commits intomoveit:mastermoveit/moveit_task_constructor:masterfrom ubi-agni:rework-executionubi-agni/moveit_task_constructor:rework-executionCopy head branch name to clipboard

+317-33

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Commits on Mar 10, 2023

• Move Task::execute() to free function in execution.h

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• Fix deprecation warning

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• Add SolutionBase::visitSubTrajectories()

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Commits on Mar 13, 2023

• execute(SolutionBase, MoveItCpp)

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Commits on Mar 23, 2023

• own PlanExecution

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  rhaschke

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• workaround for INVALID_GOAL on zero-duration trajectory

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• Turn ExecutableMotionPlan and effects into std::list

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• Preempt running trajectories before pushing new ones

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