mirror of
https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
merge: update states only once per waypoint
This commit is contained in:
parent
8834ce18f7
commit
00331414a6
@ -155,11 +155,11 @@ merge(const std::vector<robot_trajectory::RobotTrajectoryConstPtr>& sub_trajecto
|
||||
const robot_state::RobotState& sub_state = sub->getWayPoint(index);
|
||||
sub_state.copyJointGroupPositions(sub->getGroup(), values);
|
||||
merged_state->setJointGroupPositions(sub->getGroup(), values);
|
||||
merged_state->update();
|
||||
}
|
||||
if (finished)
|
||||
break;
|
||||
|
||||
merged_state->update();
|
||||
// add waypoint without timing
|
||||
merged_traj->addSuffixWayPoint(merged_state, 0.0);
|
||||
// create new RobotState for next waypoint
|
||||
|
||||
Loading…
Reference in New Issue
Block a user