From 9709fd687d9379c10041351c2988b840d346d092 Mon Sep 17 00:00:00 2001 From: v4hn Date: Sat, 24 Feb 2018 01:32:57 +0100 Subject: [PATCH] ComputeIK: update state to avoid dirty transforms --- core/src/stages/compute_ik.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/core/src/stages/compute_ik.cpp b/core/src/stages/compute_ik.cpp index d707180c..6a50871b 100644 --- a/core/src/stages/compute_ik.cpp +++ b/core/src/stages/compute_ik.cpp @@ -242,6 +242,7 @@ void ComputeIK::onNewSolution(const SolutionBase &s) // set scene's robot state robot_state::RobotState& robot_state = scene->getCurrentStateNonConst(); robot_state.setJointGroupPositions(jmg, ik_solutions.back().data()); + robot_state.update(); spawn(InterfaceState(scene), std::move(solution)); }