From ae9cbc6f6cc8e664ab5d687dc0252eb3669ed817 Mon Sep 17 00:00:00 2001
From: methylDragon <methylDragon@google.com>
Date: Tue, 21 Nov 2023 14:11:33 -0800
Subject: [PATCH] Enable shared from this for cache class

Signed-off-by: methylDragon <methylDragon@gmail.com>
---
 nexus_motion_planner/src/motion_plan_cache.hpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/nexus_motion_planner/src/motion_plan_cache.hpp b/nexus_motion_planner/src/motion_plan_cache.hpp
index fc6143c..dcf7ed1 100644
--- a/nexus_motion_planner/src/motion_plan_cache.hpp
+++ b/nexus_motion_planner/src/motion_plan_cache.hpp
@@ -78,7 +78,7 @@ namespace motion_planner {
  *
  * Motion plans may be looked up with some tolerance at call time.
  */
-class MotionPlanCache
+class MotionPlanCache : public std::enable_shared_from_this<MotionPlanCache>
 {
 public:
   // We explicitly need a Node::SharedPtr because warehouse_ros ONLY supports