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Fix format as input task to handle both joint and state waypoints #525

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merged 1 commit into from
Oct 30, 2024
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Fix format as input task to handle both joint and state waypoints #525

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9 changes: 4 additions & 5 deletions tesseract_task_composer/planning/src/nodes/format_as_input_task.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
#include <tesseract_task_composer/core/task_composer_node_info.h>
#include <tesseract_task_composer/core/task_composer_data_storage.h>

#include <tesseract_command_language/utils.h>
#include <tesseract_command_language/composite_instruction.h>
#include <tesseract_command_language/poly/move_instruction_poly.h>
#include <tesseract_command_language/poly/state_waypoint_poly.h>
Expand Down Expand Up @@ -139,18 +140,16 @@ std::unique_ptr<TaskComposerNodeInfo> FormatAsInputTask::runImpl(TaskComposerCon

if (mi.getWaypoint().isCartesianWaypoint())
{
const auto& swp = umi.getWaypoint().as<StateWaypointPoly>();
auto& cwp = mi.getWaypoint().as<CartesianWaypointPoly>();
cwp.setSeed(tesseract_common::JointState(swp.getNames(), swp.getPosition()));
cwp.setSeed(tesseract_common::JointState(getJointNames(umi.getWaypoint()), getJointPosition(umi.getWaypoint())));
}
else if (mi.getWaypoint().isJointWaypoint())
{
auto& jwp = mi.getWaypoint().as<JointWaypointPoly>();
if (!jwp.isConstrained() || (jwp.isConstrained() && jwp.isToleranced()))
{
const auto& swp = umi.getWaypoint().as<StateWaypointPoly>();
jwp.setNames(swp.getNames());
jwp.setPosition(swp.getPosition());
jwp.setNames(getJointNames(umi.getWaypoint()));
jwp.setPosition(getJointPosition(umi.getWaypoint()));
}
}
else
Expand Down
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