World::moveObject(): only apply changes if there is any non-zero motion #1108
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mlautman
reviewed
Oct 25, 2018
rhaschke
commented
Oct 25, 2018
|
@mlautman Well, my thinking was "no motion -> return false". However, another (probably more appropriate) thinking is "object not found -> return false". Changed. |
davetcoleman
approved these changes
Oct 25, 2018
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This is a follow up to #957, which introduced World::moveObject().
When transform is the identity matrix, i.e. there is no movement, the object shouldn't be touched.
This follows the rule, only to create a copy of the parent planning scene, when there are actual modifications.