Fixup: adding cost calculations to connect and move_to

Need to handle nullptr trajectories.
This commit is contained in:
Robert Haschke 2019-07-19 13:42:35 +02:00
parent f7b259259e
commit 6ff1a5162f

View File

@ -189,6 +189,8 @@ Connect::makeSequential(const std::vector<robot_trajectory::RobotTrajectoryConst
// calculate cost
double cost = 0;
for (const auto& trajectory : sub_trajectories) {
if (!trajectory)
continue;
for (const double& distance : trajectory->getWayPointDurations())
cost += distance;
}
@ -224,6 +226,8 @@ SubTrajectoryPtr Connect::merge(const std::vector<robot_trajectory::RobotTraject
// calculate cost
double cost = 0;
for (const auto& trajectory : sub_trajectories) {
if (!trajectory)
continue;
for (const double& distance : trajectory->getWayPointDurations())
cost += distance;
}