From 4225671ae4ecc6099376b41846d5fcc3adf1a173 Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Fri, 19 Jul 2019 13:42:49 +0200 Subject: [PATCH] PipelinePlanner: always forward trajectory (also in case of failure) --- core/src/solvers/pipeline_planner.cpp | 12 ++++-------- 1 file changed, 4 insertions(+), 8 deletions(-) diff --git a/core/src/solvers/pipeline_planner.cpp b/core/src/solvers/pipeline_planner.cpp index b1bc23fc..8cc05a45 100644 --- a/core/src/solvers/pipeline_planner.cpp +++ b/core/src/solvers/pipeline_planner.cpp @@ -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; } } }