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Fix use of trajopt composite profile cost and constraint collision co…
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…nfig
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@Levi-Armstrong
Levi Armstrong authored and Levi-Armstrong committed Oct 26, 2024
1 parent 9fc93a9 commit f6b4165
Showing 1 changed file with 2 additions and 2 deletions.
4 changes: 2 additions & 2 deletions tesseract_motion_planners/trajopt/src/profile/trajopt_default_composite_profile.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -344,7 +344,7 @@ void TrajOptDefaultCompositeProfile::addCollisionCost(trajopt::ProblemConstructi
trajopt::TermInfo::Ptr ti = createCollisionTermInfo(start_index,
end_index,
collision_cost_config.safety_margin,
collision_constraint_config.safety_margin_buffer,
collision_cost_config.safety_margin_buffer,
collision_cost_config.type,
collision_cost_config.use_weighted_sum,
collision_cost_config.coeff,
Expand Down Expand Up @@ -398,7 +398,7 @@ void TrajOptDefaultCompositeProfile::addCollisionConstraint(trajopt::ProblemCons
collision_constraint_config.safety_margin,
collision_constraint_config.safety_margin_buffer,
collision_constraint_config.type,
collision_cost_config.use_weighted_sum,
collision_constraint_config.use_weighted_sum,
collision_constraint_config.coeff,
contact_test_type,
length,
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