From 6b912c3531988eddae6e7260e30574aab97a3631 Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Tue, 13 Mar 2018 02:47:12 +0100 Subject: [PATCH] MoveTo Cartesian Point: bug fix --- core/src/stages/move_to.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/core/src/stages/move_to.cpp b/core/src/stages/move_to.cpp index 6b547605..efbf4bb1 100644 --- a/core/src/stages/move_to.cpp +++ b/core/src/stages/move_to.cpp @@ -152,7 +152,7 @@ bool MoveTo::compute(const InterfaceState &state, planning_scene::PlanningSceneP target_point = frame * target_point; // retain link orientation - Eigen::Affine3d target_eigen = scene->getCurrentState().getGlobalLinkTransform(link_name); + target_eigen = scene->getCurrentState().getGlobalLinkTransform(link_name); target_eigen.translation() = target_point; }