World::moveObject(): only apply changes if there is any non-zero moti…

…on (moveit#1108) Follow up to moveit#957.
shadow-robot · Sep 3, 2020 · d13f285 · d13f285
1 parent 0319135
commit d13f285
Showing 1 changed file with 2 additions and 0 deletions.
diff --git a/moveit_core/collision_detection/src/world.cpp b/moveit_core/collision_detection/src/world.cpp
@@ -160,6 +160,8 @@ bool World::moveObject(const std::string& id, const Eigen::Affine3d& transform)
   auto it = objects_.find(id);
   if (it == objects_.end())
     return false;
+  if (transform.isApprox(Eigen::Affine3d::Identity()))
+    return true;  // object already at correct location
   ensureUnique(it->second);
   for (size_t i = 0, n = it->second->shapes_.size(); i < n; ++i)
   {