changed OMPL to fillTrajectory as the parameter value

moveit · Aug 10, 2018 · 8419c39 · 8419c39
1 parent 5275b95
commit 8419c39
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/moveit_planners/chomp/chomp_motion_planner/src/chomp_planner.cpp b/moveit_planners/chomp/chomp_motion_planner/src/chomp_planner.cpp
@@ -146,7 +146,7 @@ bool ChompPlanner::solve(const planning_scene::PlanningSceneConstPtr& planning_s
     trajectory.fillInLinearInterpolation();
   else if (params.trajectory_initialization_method_.compare("cubic") == 0)
     trajectory.fillInCubicInterpolation();
-  else if (params.trajectory_initialization_method_.compare("OMPL") == 0)
+  else if (params.trajectory_initialization_method_.compare("fillTrajectory") == 0)
   {
     if (!(trajectory.fillInFromTrajectory(res)))
     {

diff --git a/moveit_ros/planning/planning_request_adapter_plugins/src/chomp_optimizer_adapter.cpp b/moveit_ros/planning/planning_request_adapter_plugins/src/chomp_optimizer_adapter.cpp
@@ -153,7 +153,7 @@ class CHOMPOptimizerAdapter : public planning_request_adapter::PlanningRequestAd
     }
     if (!nh_.getParam("trajectory_initialization_method", params_.use_stochastic_descent_))
     {
-      params_.trajectory_initialization_method_ = std::string("OMPL");
+      params_.trajectory_initialization_method_ = std::string("fillTrajectory");
       ROS_INFO_STREAM("Param trajectory_initialization_method was not set. Using New value as: "
                       << params_.trajectory_initialization_method_);
     }