From d02816ef67284bff6d49525c9f9135a4001b43b6 Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Thu, 28 Sep 2017 11:42:44 -0700 Subject: [PATCH] avoid double state update before collision check (#2) --- src/subtasks/cartesian_position_motion.cpp | 2 +- src/subtasks/generate_grasp_pose.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/subtasks/cartesian_position_motion.cpp b/src/subtasks/cartesian_position_motion.cpp index 5d8816a6..2274320a 100644 --- a/src/subtasks/cartesian_position_motion.cpp +++ b/src/subtasks/cartesian_position_motion.cpp @@ -76,7 +76,7 @@ namespace { const double* joint_positions){ state->setJointGroupPositions(jmg, joint_positions); state->update(); - return !scene->isStateColliding(*state, jmg->getName()); + return !scene->isStateColliding(static_cast(*state), jmg->getName()); } } diff --git a/src/subtasks/generate_grasp_pose.cpp b/src/subtasks/generate_grasp_pose.cpp index 9822e3da..e3dfb22b 100644 --- a/src/subtasks/generate_grasp_pose.cpp +++ b/src/subtasks/generate_grasp_pose.cpp @@ -100,7 +100,7 @@ namespace { state->setJointGroupPositions(jmg, joint_positions); state->update(); - if( scene->isStateColliding(*state, jmg->getName()) ){ + if( scene->isStateColliding(static_cast(*state), jmg->getName()) ){ old_solutions->emplace_back(); state->copyJointGroupPositions(jmg, old_solutions->back()); return false;