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Const ptr to jmg arg for cost function #1537

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Aug 25, 2022
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Const ptr to jmg arg for cost function #1537

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2 changes: 1 addition & 1 deletion moveit_core/kinematics_base/include/moveit/kinematics_base/kinematics_base.h
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Original file line number Diff line number Diff line change
Expand Up @@ -156,7 +156,7 @@ class MOVEIT_KINEMATICS_BASE_EXPORT KinematicsBase

/** @brief Signature for a cost function used to evaluate IK solutions. */
using IKCostFn = std::function<double(const geometry_msgs::msg::Pose&, const moveit::core::RobotState&,
moveit::core::JointModelGroup*, const std::vector<double>&)>;
moveit::core::JointModelGroup const*, const std::vector<double>&)>;

/**
* @brief Given a desired pose of the end-effector, compute the joint angles to reach it
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