mirror of
https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
PipelinePlanner: always forward trajectory
(also in case of failure)
This commit is contained in:
parent
6ff1a5162f
commit
4225671ae4
@ -101,11 +101,9 @@ bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from,
|
||||
req.path_constraints = path_constraints;
|
||||
|
||||
::planning_interface::MotionPlanResponse res;
|
||||
if (!planner_->generatePlan(from, req, res))
|
||||
return false;
|
||||
|
||||
bool success = planner_->generatePlan(from, req, res);
|
||||
result = res.trajectory_;
|
||||
return true;
|
||||
return success;
|
||||
}
|
||||
|
||||
bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from, const moveit::core::LinkModel& link,
|
||||
@ -127,11 +125,9 @@ bool PipelinePlanner::plan(const planning_scene::PlanningSceneConstPtr& from, co
|
||||
req.path_constraints = path_constraints;
|
||||
|
||||
::planning_interface::MotionPlanResponse res;
|
||||
if (!planner_->generatePlan(from, req, res))
|
||||
return false;
|
||||
|
||||
bool success = planner_->generatePlan(from, req, res);
|
||||
result = res.trajectory_;
|
||||
return true;
|
||||
return success;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user