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melodic compatibility
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@ -175,9 +175,18 @@ double Clearance::operator()(const SubTrajectory& s, std::string& comment) const
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auto check_distance{ [=](const InterfaceState* state, const moveit::core::RobotState& robot) {
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auto check_distance{ [=](const InterfaceState* state, const moveit::core::RobotState& robot) {
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collision_detection::DistanceResult result;
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collision_detection::DistanceResult result;
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if (with_world)
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if (with_world)
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#if MOVEIT_MASTER
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state->scene()->getCollisionEnv()->distanceRobot(request, result, robot);
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state->scene()->getCollisionEnv()->distanceRobot(request, result, robot);
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#else
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state->scene()->getCollisionWorld()->distanceRobot(request, result, *state->scene()->getCollisionRobot(),
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robot);
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#endif
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else
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else
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#if MOVEIT_MASTER
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state->scene()->getCollisionEnv()->distanceSelf(request, result, robot);
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state->scene()->getCollisionEnv()->distanceSelf(request, result, robot);
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#else
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state->scene()->getCollisionRobot()->distanceSelf(request, result, robot);
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#endif
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if (result.minimum_distance.distance <= 0) {
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if (result.minimum_distance.distance <= 0) {
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return result.minimum_distance;
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return result.minimum_distance;
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