From f6b4165a181baf12d24578dbeda873e951e134cb Mon Sep 17 00:00:00 2001 From: Levi Armstrong Date: Sat, 26 Oct 2024 09:37:46 -0500 Subject: [PATCH] Fix use of trajopt composite profile cost and constraint collision config --- .../trajopt/src/profile/trajopt_default_composite_profile.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tesseract_motion_planners/trajopt/src/profile/trajopt_default_composite_profile.cpp b/tesseract_motion_planners/trajopt/src/profile/trajopt_default_composite_profile.cpp index 703545f9ff..a4d5369e6a 100644 --- a/tesseract_motion_planners/trajopt/src/profile/trajopt_default_composite_profile.cpp +++ b/tesseract_motion_planners/trajopt/src/profile/trajopt_default_composite_profile.cpp @@ -344,7 +344,7 @@ void TrajOptDefaultCompositeProfile::addCollisionCost(trajopt::ProblemConstructi trajopt::TermInfo::Ptr ti = createCollisionTermInfo(start_index, end_index, collision_cost_config.safety_margin, - collision_constraint_config.safety_margin_buffer, + collision_cost_config.safety_margin_buffer, collision_cost_config.type, collision_cost_config.use_weighted_sum, collision_cost_config.coeff, @@ -398,7 +398,7 @@ void TrajOptDefaultCompositeProfile::addCollisionConstraint(trajopt::ProblemCons collision_constraint_config.safety_margin, collision_constraint_config.safety_margin_buffer, collision_constraint_config.type, - collision_cost_config.use_weighted_sum, + collision_constraint_config.use_weighted_sum, collision_constraint_config.coeff, contact_test_type, length,