Update to the more recent JumpThreshold API (moveit#506)

ubi-agni · Mar 7, 2024 · 453fcd2 · 453fcd2
1 parent 98c7614
commit 453fcd2
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/core/src/solvers/cartesian_path.cpp b/core/src/solvers/cartesian_path.cpp
@@ -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);