From 5319a65176d9b6e40839eeea72df880275b6093c Mon Sep 17 00:00:00 2001
From: Mario Prats <mario.prats@picknik.ai>
Date: Fri, 10 Nov 2023 08:45:52 -0800
Subject: [PATCH] Update to the more recent JumpThreshold API (#506)

---
 core/src/solvers/cartesian_path.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/core/src/solvers/cartesian_path.cpp b/core/src/solvers/cartesian_path.cpp
index 07eadef7f..1b0b9b7f0 100644
--- a/core/src/solvers/cartesian_path.cpp
+++ b/core/src/solvers/cartesian_path.cpp
@@ -101,7 +101,7 @@ bool CartesianPath::plan(const planning_scene::PlanningSceneConstPtr& from, cons
 	double achieved_fraction = moveit::core::CartesianInterpolator::computeCartesianPath(
 	    &(sandbox_scene->getCurrentStateNonConst()), jmg, trajectory, &link, target, true,
 	    moveit::core::MaxEEFStep(props.get<double>("step_size")),
-	    moveit::core::JumpThreshold(props.get<double>("jump_threshold")), is_valid,
+	    moveit::core::JumpThreshold::relative(props.get<double>("jump_threshold")), is_valid,
 	    props.get<kinematics::KinematicsQueryOptions>("kinematics_options"),
 	    props.get<kinematics::KinematicsBase::IKCostFn>("kinematics_cost_fn"), offset);