From f769fcdeef6d77560e0943d253be92917f54a9cf Mon Sep 17 00:00:00 2001 From: Michael Ripperger Date: Wed, 8 Dec 2021 22:46:53 -0600 Subject: [PATCH] Separate start/end states in OMPL unit test to prevent collisions with separating wall during sampling --- tesseract_motion_planners/test/ompl_planner_tests.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tesseract_motion_planners/test/ompl_planner_tests.cpp b/tesseract_motion_planners/test/ompl_planner_tests.cpp index 36b5379f33..df90b42d42 100644 --- a/tesseract_motion_planners/test/ompl_planner_tests.cpp +++ b/tesseract_motion_planners/test/ompl_planner_tests.cpp @@ -159,9 +159,9 @@ class OMPLTestFixture : public ::testing::Test /** @brief Tesseract OMPL motion planner */ const OMPLMotionPlanner ompl_planner; /** @brief Arbitrary trajectory start state */ - const std::vector start_state_ = { -0.5, 0.5, 0.0, -1.3348, 0.0, 1.4959, 0.0 }; + const std::vector start_state_ = { -0.6, 0.5, 0.0, -1.3348, 0.0, 1.4959, 0.0 }; /** @brief Arbitrary trajectory end state */ - const std::vector end_state_ = { 0.5, 0.5, 0.0, -1.3348, 0.0, 1.4959, 0.0 }; + const std::vector end_state_ = { 0.6, 0.5, 0.0, -1.3348, 0.0, 1.4959, 0.0 }; /** @brief Motion planning profile name */ const std::string profile_name_ = "TEST_PROFILE"; /** @brief Number of steps in the seed trajectory, equivalent to the the number of states minus one */