minor formatting changes (#51)

This commit is contained in:
Robert Haschke 2018-05-31 18:01:30 +02:00 committed by Michael Görner
parent b35aba6e19
commit ac1ccba883
2 changed files with 5 additions and 4 deletions

View File

@ -83,6 +83,7 @@ bool FixCollisionObjects::fixCollisions(planning_scene::PlanningScene &scene, st
{ {
const auto& props = properties(); const auto& props = properties();
double penetration = props.get<double>("max_penetration"); double penetration = props.get<double>("max_penetration");
(void) penetration; // not used (yet)
collision_detection::CollisionRequest req; collision_detection::CollisionRequest req;
collision_detection::CollisionResult res; collision_detection::CollisionResult res;

View File

@ -140,7 +140,7 @@ void MoveTo::compute(const InterfaceState &state, planning_scene::PlanningSceneP
bool has_joint_state_goal; bool has_joint_state_goal;
try { try {
has_joint_state_goal= getJointStateGoal(scene->getCurrentStateNonConst()); has_joint_state_goal = getJointStateGoal(scene->getCurrentStateNonConst());
} catch (const InitStageException &e) { } catch (const InitStageException &e) {
ROS_WARN_STREAM_NAMED("MoveTo", e.what()); ROS_WARN_STREAM_NAMED("MoveTo", e.what());
return; return;
@ -148,17 +148,17 @@ void MoveTo::compute(const InterfaceState &state, planning_scene::PlanningSceneP
size_t cartesian_goals = props.countDefined({"pose", "point"}); size_t cartesian_goals = props.countDefined({"pose", "point"});
if (cartesian_goals > 1){ if (cartesian_goals > 1) {
ROS_WARN_NAMED("MoveTo", "Ambiguous goals: Multiple Cartesian goals defined"); ROS_WARN_NAMED("MoveTo", "Ambiguous goals: Multiple Cartesian goals defined");
return; return;
} }
if (cartesian_goals > 0 && has_joint_state_goal){ if (cartesian_goals > 0 && has_joint_state_goal) {
ROS_WARN_NAMED("MoveTo", "Ambiguous goals: Cartesian goals and joint state goals defined"); ROS_WARN_NAMED("MoveTo", "Ambiguous goals: Cartesian goals and joint state goals defined");
return; return;
} }
if (cartesian_goals == 0 && !has_joint_state_goal){ if (cartesian_goals == 0 && !has_joint_state_goal) {
ROS_WARN_NAMED("MoveTo", "No goal defined"); ROS_WARN_NAMED("MoveTo", "No goal defined");
return; return;
} }