Update to the more recent JumpThreshold API (#506)

This commit is contained in:
Mario Prats 2023-11-10 08:45:52 -08:00 committed by Robert Haschke
parent c11a34a935
commit 11c3126052

View File

@ -101,7 +101,7 @@ bool CartesianPath::plan(const planning_scene::PlanningSceneConstPtr& from, cons
double achieved_fraction = moveit::core::CartesianInterpolator::computeCartesianPath(
&(sandbox_scene->getCurrentStateNonConst()), jmg, trajectory, &link, target, true,
moveit::core::MaxEEFStep(props.get<double>("step_size")),
moveit::core::JumpThreshold(props.get<double>("jump_threshold")), is_valid,
moveit::core::JumpThreshold::relative(props.get<double>("jump_threshold")), is_valid,
props.get<kinematics::KinematicsQueryOptions>("kinematics_options"),
props.get<kinematics::KinematicsBase::IKCostFn>("kinematics_cost_fn"), offset);