Revert "Add cartesian waypoints to fixed indices"

This reverts commit e55888e.
tesseract-robotics · Dec 21, 2023 · ed4e0d5 · ed4e0d5
1 parent 6086340
commit ed4e0d5
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Showing 2 changed files with 2 additions and 6 deletions.
diff --git a/tesseract_motion_planners/trajopt/src/trajopt_motion_planner.cpp b/tesseract_motion_planners/trajopt/src/trajopt_motion_planner.cpp
@@ -273,9 +273,7 @@ TrajOptMotionPlanner::createProblem(const PlannerRequest& request) const
         seed_states.push_back(request.env_state.getJointValues(joint_names));
       }
 
-      // Add to fixed indices
-      if (!cwp.isToleranced()) /** @todo Should not make fixed if term_type is cost */
-        fixed_steps.push_back(i);
+      /** @todo If fixed cartesian and not term_type cost add as fixed */
     }
     else if (move_instruction.getWaypoint().isJointWaypoint())
     {

diff --git a/tesseract_motion_planners/trajopt_ifopt/src/trajopt_ifopt_motion_planner.cpp b/tesseract_motion_planners/trajopt_ifopt/src/trajopt_ifopt_motion_planner.cpp
@@ -314,9 +314,7 @@ std::shared_ptr<TrajOptIfoptProblem> TrajOptIfoptMotionPlanner::createProblem(co
       // Apply profile
       cur_plan_profile->apply(*problem, cwp, move_instruction, composite_mi, active_links, i);
 
-      // Add to fixed indices
-      if (!cwp.isToleranced()) /** @todo Should not make fixed if term_type is cost */
-        fixed_steps.push_back(i);
+      /** @todo If fixed cartesian and not term_type cost add as fixed */
     }
     else if (move_instruction.getWaypoint().isJointWaypoint())
     {