ComputeIK: update state to avoid dirty transforms

This commit is contained in:
v4hn 2018-02-24 01:32:57 +01:00 committed by Robert Haschke
parent 69d3d8bd37
commit 9709fd687d

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@ -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));
}