Fix chomp adapter #1525
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Fix chomp adapter #1525
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When returning with initialized trajectory, it was always logging "using path from iteration -1".
bmagyar
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Jun 28, 2019
moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_trajectory.h
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moveit_planners/chomp/chomp_motion_planner/src/chomp_trajectory.cpp
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moveit_planners/chomp/chomp_motion_planner/src/chomp_trajectory.cpp
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moveit_planners/chomp/chomp_motion_planner/src/chomp_trajectory.cpp
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Looks like #1473 introduced a new chomp issue: Initializing the chomp trajectory from an OMPL trajectory (when used as an adapter), was using the wrong function to access joint positions.
This fixes #1452 (comment).
Additionally, the new trajectory is interpolated to yield smooth results also when the initialized solution is returned.