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merge: update states only once per waypoint
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@ -155,11 +155,11 @@ merge(const std::vector<robot_trajectory::RobotTrajectoryConstPtr>& sub_trajecto
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const robot_state::RobotState& sub_state = sub->getWayPoint(index);
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const robot_state::RobotState& sub_state = sub->getWayPoint(index);
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sub_state.copyJointGroupPositions(sub->getGroup(), values);
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sub_state.copyJointGroupPositions(sub->getGroup(), values);
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merged_state->setJointGroupPositions(sub->getGroup(), values);
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merged_state->setJointGroupPositions(sub->getGroup(), values);
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merged_state->update();
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}
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}
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if (finished)
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if (finished)
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break;
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break;
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merged_state->update();
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// add waypoint without timing
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// add waypoint without timing
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merged_traj->addSuffixWayPoint(merged_state, 0.0);
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merged_traj->addSuffixWayPoint(merged_state, 0.0);
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// create new RobotState for next waypoint
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// create new RobotState for next waypoint
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