fixup

tesseract-robotics · Dec 25, 2024 · a59d04b · a59d04b
1 parent 7bd8ecc
commit a59d04b
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Showing 4 changed files with 6 additions and 9 deletions.
diff --git a/tesseract_motion_planners/core/src/utils.cpp b/tesseract_motion_planners/core/src/utils.cpp
@@ -253,14 +253,12 @@ bool formatProgramHelper(CompositeInstruction& composite_instructions,
       auto& base_instruction = i.as<MoveInstructionPoly>();
       tesseract_common::ManipulatorInfo mi = manip_info.getCombined(base_instruction.getManipulatorInfo());
 
-      tesseract_common::ManipulatorInfo combined_mi = mi.getCombined(base_instruction.getManipulatorInfo());
-
       std::vector<std::string> joint_names;
-      auto it = manip_joint_names.find(combined_mi.manipulator);
+      auto it = manip_joint_names.find(mi.manipulator);
       if (it == manip_joint_names.end())
       {
-        joint_names = env.getGroupJointNames(combined_mi.manipulator);
-        manip_joint_names[combined_mi.manipulator] = joint_names;
+        joint_names = env.getGroupJointNames(mi.manipulator);
+        manip_joint_names[mi.manipulator] = joint_names;
       }
       else
       {

diff --git a/...opt/include/tesseract_motion_planners/trajopt/profile/trajopt_default_composite_profile.h b/...opt/include/tesseract_motion_planners/trajopt/profile/trajopt_default_composite_profile.h
@@ -104,7 +104,7 @@ class TrajOptDefaultCompositeProfile : public TrajOptCompositeProfile
                                             int end_index) const override;
 
 protected:
-  double computeLongestValidSegmentLength(const Eigen::MatrixX2d joint_limits) const;
+  double computeLongestValidSegmentLength(const Eigen::MatrixX2d& joint_limits) const;
 
   friend class boost::serialization::access;
   template <class Archive>

diff --git a/...tion_planners/trajopt/include/tesseract_motion_planners/trajopt/profile/trajopt_profile.h b/...tion_planners/trajopt/include/tesseract_motion_planners/trajopt/profile/trajopt_profile.h
@@ -29,6 +29,7 @@
 #include <tesseract_common/macros.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <trajopt/fwd.hpp>
+#include <trajopt_sco/optimizers.hpp>
 #include <vector>
 #include <memory>
 #include <string>
@@ -39,8 +40,6 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_environment/fwd.h>
 #include <tesseract_command_language/fwd.h>
 #include <tesseract_command_language/profile.h>
-#include <trajopt/fwd.hpp>
-#include <trajopt_sco/optimizers.hpp>
 
 namespace boost::serialization
 {

diff --git a/tesseract_motion_planners/trajopt/src/profile/trajopt_default_composite_profile.cpp b/tesseract_motion_planners/trajopt/src/profile/trajopt_default_composite_profile.cpp
@@ -152,7 +152,7 @@ TrajOptTermInfos TrajOptDefaultCompositeProfile::createCostAndConstraints(
   return term_infos;
 }
 
-double TrajOptDefaultCompositeProfile::computeLongestValidSegmentLength(const Eigen::MatrixX2d joint_limits) const
+double TrajOptDefaultCompositeProfile::computeLongestValidSegmentLength(const Eigen::MatrixX2d& joint_limits) const
 {
   // Calculate longest valid segment length
   double extent = (joint_limits.col(1) - joint_limits.col(0)).norm();