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Update to the more recent JumpThreshold API (moveit#506)
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marioprats authored and rhaschke committed Mar 7, 2024
1 parent c11a34a commit 11c3126
Showing 1 changed file with 1 addition and 1 deletion.
2 changes: 1 addition & 1 deletion core/src/solvers/cartesian_path.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -101,7 +101,7 @@ bool CartesianPath::plan(const planning_scene::PlanningSceneConstPtr& from, cons
double achieved_fraction = moveit::core::CartesianInterpolator::computeCartesianPath(
&(sandbox_scene->getCurrentStateNonConst()), jmg, trajectory, &link, target, true,
moveit::core::MaxEEFStep(props.get<double>("step_size")),
moveit::core::JumpThreshold(props.get<double>("jump_threshold")), is_valid,
moveit::core::JumpThreshold::relative(props.get<double>("jump_threshold")), is_valid,
props.get<kinematics::KinematicsQueryOptions>("kinematics_options"),
props.get<kinematics::KinematicsBase::IKCostFn>("kinematics_cost_fn"), offset);

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