Fix PlanarJointModel::satisfiesPositionBounds (moveit#1353)

Co-authored-by: Vatan Aksoy Tezer <vatan@picknik.ai>
peterdavidfagan · Jul 14, 2022 · 442840a · 442840a
1 parent dc26e58
commit 442840a
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/moveit_core/robot_model/src/planar_joint_model.cpp b/moveit_core/robot_model/src/planar_joint_model.cpp
@@ -271,7 +271,7 @@ double PlanarJointModel::distance(const double* values1, const double* values2)
 bool PlanarJointModel::satisfiesPositionBounds(const double* values, const Bounds& bounds, double margin) const
 {
   for (unsigned int i = 0; i < 3; ++i)
-    if (values[0] < bounds[0].min_position_ - margin || values[0] > bounds[0].max_position_ + margin)
+    if (values[i] < bounds[i].min_position_ - margin || values[i] > bounds[i].max_position_ + margin)
       return false;
   return true;
 }