From 42c943f7815657c8d63383b41168596fa4d2ecc6 Mon Sep 17 00:00:00 2001
From: Tyler Marr <41449746+marrts@users.noreply.github.com>
Date: Mon, 10 Jun 2024 20:22:03 -0500
Subject: [PATCH] More compact descartes collision logging output (#460)

---
 .../descartes/impl/descartes_robot_sampler.hpp                  | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/tesseract_motion_planners/descartes/include/tesseract_motion_planners/descartes/impl/descartes_robot_sampler.hpp b/tesseract_motion_planners/descartes/include/tesseract_motion_planners/descartes/impl/descartes_robot_sampler.hpp
index 4f16c431da..c06c9f781e 100644
--- a/tesseract_motion_planners/descartes/include/tesseract_motion_planners/descartes/impl/descartes_robot_sampler.hpp
+++ b/tesseract_motion_planners/descartes/include/tesseract_motion_planners/descartes/impl/descartes_robot_sampler.hpp
@@ -140,7 +140,7 @@ std::vector<descartes_light::StateSample<FloatType>> DescartesRobotSampler<Float
     {
       error_string_stream << "For sample " << i << " " << ik_solutions.size()
                           << " IK solutions were found, with a collision summary of:" << std::endl;
-      error_string_stream << traj_contacts.trajectoryCollisionResultsTable().str();
+      error_string_stream << traj_contacts.collisionFrequencyPerLink().str();
     }
   }