Fixup

tesseract-robotics · Dec 25, 2024 · 44ddf48 · 44ddf48
1 parent a59d04b
commit 44ddf48
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Showing 2 changed files with 10 additions and 6 deletions.
diff --git a/tesseract_command_language/src/utils.cpp b/tesseract_command_language/src/utils.cpp
@@ -241,11 +241,15 @@ bool formatJointPosition(const std::vector<std::string>& joint_names, WaypointPo
   else if (waypoint.isCartesianWaypoint())
   {
     auto& cwp = waypoint.as<CartesianWaypointPoly>();
-    if (!cwp.hasSeed())
-      throw std::runtime_error("Cartesian waypoint does not have a seed.");
-
-    jv = &(cwp.getSeed().position);
-    jn = &(cwp.getSeed().joint_names);
+    if (cwp.hasSeed())
+    {
+      jv = &(cwp.getSeed().position);
+      jn = &(cwp.getSeed().joint_names);
+    }
+    else
+    {
+      return false;
+    }
   }
   else
   {

diff --git a/tesseract_motion_planners/trajopt/src/profile/trajopt_default_plan_profile.cpp b/tesseract_motion_planners/trajopt/src/profile/trajopt_default_plan_profile.cpp
@@ -166,7 +166,7 @@ TrajOptWaypointInfo TrajOptDefaultPlanProfile::createCostAndConstraints(
     if (move_instruction.getWaypoint().isStateWaypoint())
     {
       const auto& swp = move_instruction.getWaypoint().as<StateWaypointPoly>();
-      JointWaypointPoly jwp = move_instruction.createJointWaypoint();
+      jwp = move_instruction.createJointWaypoint();
       jwp.setNames(swp.getNames());
       jwp.setPosition(swp.getPosition());
       info.fixed = true;