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ComputeIK: fix typo
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2da9e0d722
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@ -313,11 +313,11 @@ void ComputeIK::compute()
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marker.color.a *= 0.5;
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marker.color.a *= 0.5;
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failure_markers.push_back(marker);
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failure_markers.push_back(marker);
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};
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};
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const auto& link_to_visualize = moveit::core::RobotModel::getRigidlyConnectedParentLinkModel(link)
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const auto& links_to_visualize = moveit::core::RobotModel::getRigidlyConnectedParentLinkModel(link)
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->getParentJointModel()->getDescendantLinkModels();
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->getParentJointModel()->getDescendantLinkModels();
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if (colliding) {
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if (colliding) {
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SubTrajectory solution;
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SubTrajectory solution;
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generateCollisionMarkers(sandbox_state, appender, link_to_visualize);
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generateCollisionMarkers(sandbox_state, appender, links_to_visualize);
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std::copy(failure_markers.begin(), failure_markers.end(), std::back_inserter(solution.markers()));
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std::copy(failure_markers.begin(), failure_markers.end(), std::back_inserter(solution.markers()));
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solution.markAsFailure();
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solution.markAsFailure();
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// TODO: visualize collisions
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// TODO: visualize collisions
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@ -325,7 +325,7 @@ void ComputeIK::compute()
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spawn(InterfaceState(sandbox_scene), std::move(solution));
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spawn(InterfaceState(sandbox_scene), std::move(solution));
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return;
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return;
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} else
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} else
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generateVisualMarkers(sandbox_state, appender, link_to_visualize);
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generateVisualMarkers(sandbox_state, appender, links_to_visualize);
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// determine joint values of robot pose to compare IK solution with for costs
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// determine joint values of robot pose to compare IK solution with for costs
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