Does FootstepGraph::finalizeSteps() have a redundant argument ?

jsk-ros-pkg / jsk_control

jsk control ros packages

http://github.com/jsk-ros-pkg/jsk_control

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Does FootstepGraph::finalizeSteps() have a redundant argument ? #736

Closed sktometometo closed 4 years ago

sktometometo commented 4 years ago

I have a question about FootstepGraph::finalizeSteps() added to jsk_footstep_planner/src/footstep_graph.cpp in https://github.com/jsk-ros-pkg/jsk_control/pull/653

This method seems to add FootStepState::Ptr of goal footsteps to the 3rd argument (finalizeSteps) in response to the leg of the second argument lastStep. And the first argument last_1_Step is not used.

So What is the purpose of the first argument last_1_Step?

sktometometo commented 4 years ago

@YoheiKakiuchi