diff --git a/core/src/properties.cpp b/core/src/properties.cpp index c922dc04..db38e7e3 100644 --- a/core/src/properties.cpp +++ b/core/src/properties.cpp @@ -215,8 +215,8 @@ boost::any fromName(const PropertyMap& other, const std::string& other_name) Property::error::error(const std::string& msg) - : std::runtime_error("Property: " + msg) - , msg_(msg) + : std::runtime_error(msg) + , msg_("Property: " + msg) {} void Property::error::setName(const std::string& name) diff --git a/core/src/stages/compute_ik.cpp b/core/src/stages/compute_ik.cpp index 6a50871b..48f1733d 100644 --- a/core/src/stages/compute_ik.cpp +++ b/core/src/stages/compute_ik.cpp @@ -156,7 +156,7 @@ void ComputeIK::onNewSolution(const SolutionBase &s) // validate placed link for collisions bool colliding = isTargetPoseColliding(sandbox_scene, eef_jmg, target_pose, link_name); if (colliding && !storeFailures()) { - ROS_ERROR("eeg in collision"); + ROS_ERROR("eef in collision"); return; } @@ -174,6 +174,7 @@ void ComputeIK::onNewSolution(const SolutionBase &s) generateCollisionMarkers(sandbox_state, appender, visualize_links); std::copy(placed_link_markers.begin(), placed_link_markers.end(), std::back_inserter(solution.markers())); solution.setCost(std::numeric_limits::infinity()); // mark solution as failure + solution.setName("eef in collision"); spawn(InterfaceState(sandbox_scene), std::move(solution)); return; } else @@ -260,6 +261,7 @@ void ComputeIK::onNewSolution(const SolutionBase &s) // mark solution as invalid solution.setCost(std::numeric_limits::infinity()); + solution.setName("no IK found"); // ik target link placement std::copy(placed_link_markers.begin(), placed_link_markers.end(), std::back_inserter(solution.markers())); diff --git a/core/src/stages/fixed_state.cpp b/core/src/stages/fixed_state.cpp index 1af35363..99ba79dc 100644 --- a/core/src/stages/fixed_state.cpp +++ b/core/src/stages/fixed_state.cpp @@ -54,7 +54,7 @@ bool FixedState::canCompute() const{ bool FixedState::compute() { spawn(InterfaceState(scene_), 0.0); - return ran_= true; + return ran_ = true; } } } } diff --git a/core/src/stages/simple_grasp.cpp b/core/src/stages/simple_grasp.cpp index 74c25fa2..7de51a36 100644 --- a/core/src/stages/simple_grasp.cpp +++ b/core/src/stages/simple_grasp.cpp @@ -65,7 +65,7 @@ SimpleGrasp::SimpleGrasp(const std::string& name) exposePropertiesOfChild(-1, { "max_ik_solutions", "timeout" }); } { - auto allow_touch = std::make_unique("enable object collision"); + auto allow_touch = std::make_unique("allow object collision"); PropertyMap& p = allow_touch->properties(); p.declare("eef"); p.declare("object");