Fix: Add cost to cost_infos instead of cnt_infos

tesseract-robotics · Jun 12, 2024 · cf04d17 · cf04d17
1 parent 9a61f2b
commit cf04d17
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/tesseract_task_composer/planning/src/nodes/fix_state_collision_task.cpp b/tesseract_task_composer/planning/src/nodes/fix_state_collision_task.cpp
@@ -197,7 +197,7 @@ bool moveWaypointFromCollisionTrajopt(WaypointPoly& waypoint,
       jp_cost->last_step = 0;
       jp_cost->name = "joint_pos_cost";
       jp_cost->term_type = TermType::TT_COST;
-      pci.cnt_infos.push_back(jp_cost);
+      pci.cost_infos.push_back(jp_cost);
     }
   }