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Fix KinematicGroupInstructionInfo and JointGroupInstructionInfo extract cartesian pose #522

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merged 1 commit into from
Oct 17, 2024
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Fix KinematicGroupInstructionInfo and JointGroupInstructionInfo extract cartesian pose #522

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10 changes: 8 additions & 2 deletions tesseract_motion_planners/simple/src/interpolation.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -113,7 +113,10 @@ Eigen::Isometry3d JointGroupInstructionInfo::calcCartesianPose(const Eigen::Vect
Eigen::Isometry3d JointGroupInstructionInfo::extractCartesianPose(bool in_world) const
{
if (!instruction.getWaypoint().isCartesianWaypoint())
throw std::runtime_error("Instruction waypoint type is not a CartesianWaypoint, unable to extract cartesian pose!");
{
const auto& jp = getJointPosition(instruction.getWaypoint());
return calcCartesianPose(jp, in_world);
}

if (in_world)
return working_frame_transform * instruction.getWaypoint().as<CartesianWaypointPoly>().getTransform();
Expand Down Expand Up @@ -184,7 +187,10 @@ Eigen::Isometry3d KinematicGroupInstructionInfo::calcCartesianPose(const Eigen::
Eigen::Isometry3d KinematicGroupInstructionInfo::extractCartesianPose(bool in_world) const
{
if (!instruction.getWaypoint().isCartesianWaypoint())
throw std::runtime_error("Instruction waypoint type is not a CartesianWaypoint, unable to extract cartesian pose!");
{
const auto& jp = getJointPosition(instruction.getWaypoint());
return calcCartesianPose(jp, in_world);
}

if (in_world)
return working_frame_transform * instruction.getWaypoint().as<CartesianWaypointPoly>().getTransform();
Expand Down
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