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https://github.com/moveit/moveit_task_constructor.git
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minor formatting changes (#51)
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@ -83,6 +83,7 @@ bool FixCollisionObjects::fixCollisions(planning_scene::PlanningScene &scene, st
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{
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const auto& props = properties();
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double penetration = props.get<double>("max_penetration");
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(void) penetration; // not used (yet)
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collision_detection::CollisionRequest req;
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collision_detection::CollisionResult res;
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@ -140,7 +140,7 @@ void MoveTo::compute(const InterfaceState &state, planning_scene::PlanningSceneP
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bool has_joint_state_goal;
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try {
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has_joint_state_goal= getJointStateGoal(scene->getCurrentStateNonConst());
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has_joint_state_goal = getJointStateGoal(scene->getCurrentStateNonConst());
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} catch (const InitStageException &e) {
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ROS_WARN_STREAM_NAMED("MoveTo", e.what());
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return;
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@ -148,17 +148,17 @@ void MoveTo::compute(const InterfaceState &state, planning_scene::PlanningSceneP
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size_t cartesian_goals = props.countDefined({"pose", "point"});
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if (cartesian_goals > 1){
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if (cartesian_goals > 1) {
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ROS_WARN_NAMED("MoveTo", "Ambiguous goals: Multiple Cartesian goals defined");
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return;
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}
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if (cartesian_goals > 0 && has_joint_state_goal){
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if (cartesian_goals > 0 && has_joint_state_goal) {
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ROS_WARN_NAMED("MoveTo", "Ambiguous goals: Cartesian goals and joint state goals defined");
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return;
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}
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if (cartesian_goals == 0 && !has_joint_state_goal){
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if (cartesian_goals == 0 && !has_joint_state_goal) {
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ROS_WARN_NAMED("MoveTo", "No goal defined");
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return;
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}
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