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Small optimization in constructGoalConstraints() #1707

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merged 3 commits into from
Nov 10, 2022
Merged

Small optimization in constructGoalConstraints() #1707

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062408f
Small optimization in constructGoalConstraints()
Nov 9, 2022
2913dfc
Quat defaults to unity
AndyZe Nov 9, 2022
36f52a0
Merge branch 'main' into andyz/kin_constraints_opt
AndyZe Nov 10, 2022
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7 changes: 1 addition & 6 deletions moveit_core/kinematic_constraints/src/utils.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -181,13 +181,8 @@ moveit_msgs::msg::Constraints constructGoalConstraints(const std::string& link_n

pcm.header = pose.header;
pcm.constraint_region.primitive_poses.resize(1);
pcm.constraint_region.primitive_poses[0].position = pose.pose.position;

// orientation of constraint region does not affect anything, since it is a sphere
pcm.constraint_region.primitive_poses[0].orientation.x = 0.0;
pcm.constraint_region.primitive_poses[0].orientation.y = 0.0;
pcm.constraint_region.primitive_poses[0].orientation.z = 0.0;
pcm.constraint_region.primitive_poses[0].orientation.w = 1.0;
pcm.constraint_region.primitive_poses[0].position = pose.pose.position;
pcm.weight = 1.0;

goal.orientation_constraints.resize(1);
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