mirror of
https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
minor formatting changes (#51)
This commit is contained in:
parent
b35aba6e19
commit
ac1ccba883
@ -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;
|
||||||
|
|||||||
@ -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;
|
||||||
}
|
}
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user