From 63ca9aaf1946c10ffc62f9d3f580ff95d7260994 Mon Sep 17 00:00:00 2001 From: Roelof Oomen Date: Fri, 13 Oct 2023 14:50:09 +0200 Subject: [PATCH] Adapt to latest trajopt --- tesseract_examples/src/car_seat_example.cpp | 4 ++-- tesseract_examples/src/pick_and_place_example.cpp | 4 ++-- tesseract_examples/src/puzzle_piece_example.cpp | 2 +- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/tesseract_examples/src/car_seat_example.cpp b/tesseract_examples/src/car_seat_example.cpp index 31dac95bc5..0a9becb244 100644 --- a/tesseract_examples/src/car_seat_example.cpp +++ b/tesseract_examples/src/car_seat_example.cpp @@ -261,13 +261,13 @@ bool CarSeatExample::run() tesseract_collision::ContactManagerConfig(0.00); trajopt_ifopt_composite_profile->collision_constraint_config->collision_margin_buffer = 0.005; trajopt_ifopt_composite_profile->collision_constraint_config->collision_coeff_data = - trajopt_ifopt::CollisionCoeffData(1); + trajopt_common::CollisionCoeffData(1); trajopt_ifopt_composite_profile->collision_cost_config->type = tesseract_collision::CollisionEvaluatorType::LVS_DISCRETE; trajopt_ifopt_composite_profile->collision_cost_config->contact_manager_config = tesseract_collision::ContactManagerConfig(0.005); trajopt_ifopt_composite_profile->collision_cost_config->collision_margin_buffer = 0.01; - trajopt_ifopt_composite_profile->collision_cost_config->collision_coeff_data = trajopt_ifopt::CollisionCoeffData(5); + trajopt_ifopt_composite_profile->collision_cost_config->collision_coeff_data = trajopt_common::CollisionCoeffData(5); trajopt_ifopt_composite_profile->smooth_velocities = false; trajopt_ifopt_composite_profile->velocity_coeff = Eigen::VectorXd::Ones(1); trajopt_ifopt_composite_profile->smooth_accelerations = true; diff --git a/tesseract_examples/src/pick_and_place_example.cpp b/tesseract_examples/src/pick_and_place_example.cpp index 0f4b6e0e10..a5e8370d66 100644 --- a/tesseract_examples/src/pick_and_place_example.cpp +++ b/tesseract_examples/src/pick_and_place_example.cpp @@ -207,13 +207,13 @@ bool PickAndPlaceExample::run() tesseract_collision::ContactManagerConfig(0.00); trajopt_ifopt_composite_profile->collision_constraint_config->collision_margin_buffer = 0.005; trajopt_ifopt_composite_profile->collision_constraint_config->collision_coeff_data = - trajopt_ifopt::CollisionCoeffData(1); + trajopt_common::CollisionCoeffData(1); trajopt_ifopt_composite_profile->collision_cost_config->type = tesseract_collision::CollisionEvaluatorType::LVS_DISCRETE; trajopt_ifopt_composite_profile->collision_cost_config->contact_manager_config = tesseract_collision::ContactManagerConfig(0.005); trajopt_ifopt_composite_profile->collision_cost_config->collision_margin_buffer = 0.01; - trajopt_ifopt_composite_profile->collision_cost_config->collision_coeff_data = trajopt_ifopt::CollisionCoeffData(5); + trajopt_ifopt_composite_profile->collision_cost_config->collision_coeff_data = trajopt_common::CollisionCoeffData(5); trajopt_ifopt_composite_profile->smooth_velocities = false; trajopt_ifopt_composite_profile->velocity_coeff = Eigen::VectorXd::Ones(1); trajopt_ifopt_composite_profile->smooth_accelerations = true; diff --git a/tesseract_examples/src/puzzle_piece_example.cpp b/tesseract_examples/src/puzzle_piece_example.cpp index f08c9499b3..0035ce632f 100644 --- a/tesseract_examples/src/puzzle_piece_example.cpp +++ b/tesseract_examples/src/puzzle_piece_example.cpp @@ -207,7 +207,7 @@ bool PuzzlePieceExample::run() trajopt_ifopt_composite_profile->collision_cost_config->contact_manager_config = tesseract_collision::ContactManagerConfig(0.025); trajopt_ifopt_composite_profile->collision_cost_config->collision_margin_buffer = 0.05; - trajopt_ifopt_composite_profile->collision_cost_config->collision_coeff_data = trajopt_ifopt::CollisionCoeffData(2); + trajopt_ifopt_composite_profile->collision_cost_config->collision_coeff_data = trajopt_common::CollisionCoeffData(2); trajopt_ifopt_composite_profile->smooth_velocities = false; trajopt_ifopt_composite_profile->velocity_coeff = Eigen::VectorXd::Ones(1); trajopt_ifopt_composite_profile->smooth_accelerations = true;