Remove default constructor for Priority

It's better to explicitly state the initial value.

Author: rhaschke

core/include/moveit/task_constructor/container.h

@@ -107,7 +107,7 @@ class SerialContainer : public ContainerBase
 	/// the full trace (from start to end, but not including start) and its accumulated costs
 	template <Interface::Direction dir>
 	void traverse(const SolutionBase& start, const SolutionProcessor& cb, SolutionSequence::container_type& trace,
-	              const InterfaceState::Priority& = InterfaceState::Priority());
+	              const InterfaceState::Priority& = InterfaceState::Priority(0, 0.0));
 
 protected:
 	SerialContainer(SerialContainerPrivate* impl);

core/include/moveit/task_constructor/storage.h

@@ -83,7 +83,6 @@ class InterfaceState
 	 */
 	struct Priority : public std::pair<unsigned int, double>
 	{
-		Priority() : Priority(0, 0.0) {}
 		Priority(unsigned int depth, double cost) : std::pair<unsigned int, double>(depth, cost) {}
 
 		inline unsigned int depth() const { return this->first; }

core/src/storage.cpp

@@ -46,16 +46,17 @@
 namespace moveit {
 namespace task_constructor {
 
-const planning_scene::PlanningScenePtr& ensureUpdated(const planning_scene::PlanningScenePtr& scene) {
+planning_scene::PlanningSceneConstPtr ensureUpdated(const planning_scene::PlanningScenePtr& scene) {
 	// ensure scene's state is updated
 	if (scene->getCurrentState().dirty())
 		scene->getCurrentStateNonConst().update();
 	return scene;
 }
 
-InterfaceState::InterfaceState(const planning_scene::PlanningScenePtr& ps) : scene_(ensureUpdated(ps)) {}
+InterfaceState::InterfaceState(const planning_scene::PlanningScenePtr& ps) : InterfaceState(ensureUpdated(ps)) {}
 
-InterfaceState::InterfaceState(const planning_scene::PlanningSceneConstPtr& ps) : scene_(ps) {
+InterfaceState::InterfaceState(const planning_scene::PlanningSceneConstPtr& ps)
+  : scene_(ps), priority_(Priority(0, 0.0)) {
 	if (scene_->getCurrentState().dirty())
 		ROS_ERROR_NAMED("InterfaceState", "Dirty PlanningScene! Please only forward clean ones into InterfaceState.");
 }