From 1ba4bc45086813e922772970049859dac5877879 Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Tue, 22 Oct 2019 12:06:11 +0200 Subject: [PATCH] MoveTo/MoveRelative: report failure on invalid trajectories (#107) --- core/src/stages/move_relative.cpp | 3 ++- core/src/stages/move_to.cpp | 6 +++--- 2 files changed, 5 insertions(+), 4 deletions(-) diff --git a/core/src/stages/move_relative.cpp b/core/src/stages/move_relative.cpp index 7b7603b9..f09d0053 100644 --- a/core/src/stages/move_relative.cpp +++ b/core/src/stages/move_relative.cpp @@ -290,8 +290,9 @@ bool MoveRelative::compute(const InterfaceState& state, planning_scene::Planning solution.setTrajectory(robot_trajectory); if (!success) solution.markAsFailure(); + return true; } - return true; + return false; } void MoveRelative::computeForward(const InterfaceState& from) { diff --git a/core/src/stages/move_to.cpp b/core/src/stages/move_to.cpp index bb1a804b..5bb3487c 100644 --- a/core/src/stages/move_to.cpp +++ b/core/src/stages/move_to.cpp @@ -246,12 +246,12 @@ bool MoveTo::compute(const InterfaceState& state, planning_scene::PlanningSceneP if (!success) solution.markAsFailure(); + + return true; } - return true; + return false; } -// -1 TODO: move these as default implementation to PropagateEitherWay? -// Essentially, here compute() is a class-specific worker function void MoveTo::computeForward(const InterfaceState& from) { planning_scene::PlanningScenePtr to; SubTrajectory trajectory;