ComputeIK: fix typo

This commit is contained in:
Robert Haschke 2019-02-20 11:15:05 +01:00
parent 2da9e0d722
commit 1047ef08a4

View File

@ -313,11 +313,11 @@ void ComputeIK::compute()
marker.color.a *= 0.5;
failure_markers.push_back(marker);
};
const auto& link_to_visualize = moveit::core::RobotModel::getRigidlyConnectedParentLinkModel(link)
const auto& links_to_visualize = moveit::core::RobotModel::getRigidlyConnectedParentLinkModel(link)
->getParentJointModel()->getDescendantLinkModels();
if (colliding) {
SubTrajectory solution;
generateCollisionMarkers(sandbox_state, appender, link_to_visualize);
generateCollisionMarkers(sandbox_state, appender, links_to_visualize);
std::copy(failure_markers.begin(), failure_markers.end(), std::back_inserter(solution.markers()));
solution.markAsFailure();
// TODO: visualize collisions
@ -325,7 +325,7 @@ void ComputeIK::compute()
spawn(InterfaceState(sandbox_scene), std::move(solution));
return;
} else
generateVisualMarkers(sandbox_state, appender, link_to_visualize);
generateVisualMarkers(sandbox_state, appender, links_to_visualize);
// determine joint values of robot pose to compare IK solution with for costs