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avoid double state update before collision check (#2)
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2dfc2f395e
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@ -76,7 +76,7 @@ namespace {
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const double* joint_positions){
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const double* joint_positions){
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state->setJointGroupPositions(jmg, joint_positions);
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state->setJointGroupPositions(jmg, joint_positions);
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state->update();
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state->update();
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return !scene->isStateColliding(*state, jmg->getName());
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return !scene->isStateColliding(static_cast<const robot_state::RobotState&>(*state), jmg->getName());
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}
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}
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}
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}
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@ -100,7 +100,7 @@ namespace {
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state->setJointGroupPositions(jmg, joint_positions);
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state->setJointGroupPositions(jmg, joint_positions);
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state->update();
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state->update();
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if( scene->isStateColliding(*state, jmg->getName()) ){
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if( scene->isStateColliding(static_cast<const robot_state::RobotState&>(*state), jmg->getName()) ){
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old_solutions->emplace_back();
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old_solutions->emplace_back();
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state->copyJointGroupPositions(jmg, old_solutions->back());
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state->copyJointGroupPositions(jmg, old_solutions->back());
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return false;
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return false;
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