melodic compatibility

This commit is contained in:
v4hn 2020-09-21 14:00:49 +02:00
parent 5d0fd57754
commit 04a8afb16c

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