consider v4hn's comment

This commit is contained in:
Robert Haschke 2018-04-10 12:34:43 +02:00
parent 433db67cf9
commit 5c525f8729

View File

@ -158,7 +158,7 @@ bool Connect::compute(const InterfaceState &from, const InterfaceState &to) {
end->getCurrentStateNonConst().setJointGroupPositions(jmg, positions);
robot_trajectory::RobotTrajectoryPtr trajectory;
if (!pair.second->plan(start, to.scene(), jmg, timeout, trajectory, path_constraints))
if (!pair.second->plan(start, end, jmg, timeout, trajectory, path_constraints))
break;
sub_trajectories.push_back(trajectory);