MoveTo Cartesian Point: bug fix

This commit is contained in:
Robert Haschke 2018-03-13 02:47:12 +01:00
parent 6d859840c3
commit 6b912c3531

View File

@ -152,7 +152,7 @@ bool MoveTo::compute(const InterfaceState &state, planning_scene::PlanningSceneP
target_point = frame * target_point; target_point = frame * target_point;
// retain link orientation // retain link orientation
Eigen::Affine3d target_eigen = scene->getCurrentState().getGlobalLinkTransform(link_name); target_eigen = scene->getCurrentState().getGlobalLinkTransform(link_name);
target_eigen.translation() = target_point; target_eigen.translation() = target_point;
} }