Merge pull request #5 from sbgisen/feature/padding_each

sbgisen · Jun 26, 2023 · b0f4556 · b0f4556
2 parents def489b + 5e78d50
commit b0f4556
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/moveit_core/planning_scene/src/planning_scene.cpp b/moveit_core/planning_scene/src/planning_scene.cpp
@@ -492,9 +492,9 @@ void PlanningScene::checkCollision(const collision_detection::CollisionRequest&
   // check collision with the world using the padded version
   getCollisionEnv()->checkRobotCollision(req, res, robot_state, acm);
 
-  // do self-collision checking with the unpadded version of the robot
+  // do self-collision checking with the padded version of the robot
   if (!res.collision || (req.contacts && res.contacts.size() < req.max_contacts))
-    getCollisionEnvUnpadded()->checkSelfCollision(req, res, robot_state, acm);
+    getCollisionEnv()->checkSelfCollision(req, res, robot_state, acm);
 }
 
 void PlanningScene::checkCollisionUnpadded(const collision_detection::CollisionRequest& req,