Cleanup

moveit · Dec 13, 2022 · 92af883 · 92af883
1 parent cc2bcf7
commit 92af883
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Showing 2 changed files with 9 additions and 7 deletions.
diff --git a/...tory_processing/include/moveit/trajectory_processing/time_optimal_trajectory_generation.h b/...tory_processing/include/moveit/trajectory_processing/time_optimal_trajectory_generation.h
@@ -207,8 +207,12 @@ class TimeOptimalTrajectoryGeneration : public TimeParameterization
                                           const Eigen::VectorXd& max_velocity,
                                           const Eigen::VectorXd& max_acceleration) const;
 
-  /// @brief Check if a combination of revolute and prismatic joints is used. path_tolerance_ is not valid, if so.
-  bool checkMixedUnits(const moveit::core::JointModelGroup* group) const;
+  /**
+    * @brief Check if a combination of revolute and prismatic joints is used. path_tolerance_ is not valid, if so.
+    * \param group The JointModelGroup to check.
+    * \return true if there are mixed joints.
+    */
+  bool hasMixedJointTypes(const moveit::core::JointModelGroup* group) const;
 
   const double path_tolerance_;
   const double resample_dt_;

diff --git a/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp b/moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp
@@ -1096,7 +1096,7 @@ bool TimeOptimalTrajectoryGeneration::doTimeParameterizationCalculations(robot_t
     return false;
   }
 
-  if (!checkMixedUnits(group))
+  if (hasMixedJointTypes(group))
   {
     RCLCPP_WARN(LOGGER, "There is a combination of revolute and prismatic joints in the robot model. TOTG's `path_tolerance` will not function correctly.");
   }
@@ -1185,7 +1185,7 @@ bool TimeOptimalTrajectoryGeneration::doTimeParameterizationCalculations(robot_t
   return true;
 }
 
-bool TimeOptimalTrajectoryGeneration::checkMixedUnits(const moveit::core::JointModelGroup* group) const
+bool TimeOptimalTrajectoryGeneration::hasMixedJointTypes(const moveit::core::JointModelGroup* group) const
 {
   const std::vector<const moveit::core::JointModel*>& joint_models = group->getJointModels();
 
@@ -1199,8 +1199,6 @@ bool TimeOptimalTrajectoryGeneration::checkMixedUnits(const moveit::core::JointM
         return joint_model->getType() == moveit::core::JointModel::JointType::REVOLUTE;
       });
 
-  if (have_prismatic && have_revolute)
-    return false;
-  return true;
+  return have_prismatic && have_revolute;
 }
 }  // namespace trajectory_processing