Merge branch 'master' into nobleci

tesseract-robotics · Jul 16, 2024 · d224550 · d224550
2 parents 6f9410c + 2122689
commit d224550
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/...mposer/planning/include/tesseract_task_composer/planning/nodes/fix_state_collision_task.h b/...mposer/planning/include/tesseract_task_composer/planning/nodes/fix_state_collision_task.h
@@ -174,7 +174,8 @@ bool moveWaypointFromCollisionRandomSampler(WaypointPoly& waypoint,
 bool applyCorrectionWorkflow(WaypointPoly& waypoint,
                              const tesseract_common::ManipulatorInfo& manip_info,
                              const std::shared_ptr<const tesseract_environment::Environment>& env,
-                             const FixStateCollisionProfile& profile);
+                             const FixStateCollisionProfile& profile,
+                             tesseract_collision::ContactResultMap& contacts);
 }  // namespace tesseract_planning
 
 BOOST_CLASS_EXPORT_KEY2(tesseract_planning::FixStateCollisionTask, "FixStateCollisionTask")