Merge branch 'master' into style/control

personalrobotics · May 2, 2017 · b8e3916 · b8e3916
2 parents 64516f4 + 36d3a30
commit b8e3916
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/src/planner/SnapPlanner.cpp b/src/planner/SnapPlanner.cpp
@@ -33,7 +33,7 @@ trajectory::InterpolatedPtr planSnap(
     if (!constraint->isSatisfied(testState))
     {
       planningResult.message = "Collision detected";
-      return returnTraj;
+      return nullptr;
     }
   }
 

diff --git a/tests/planner/test_SnapPlanner.cpp b/tests/planner/test_SnapPlanner.cpp
@@ -101,5 +101,5 @@ TEST_F(SnapPlannerTest, FailIfConstraintNotSatisfied)
 {
   auto traj = planSnap(stateSpace, *startState, *goalState, interpolator,
     failingConstraint, planningResult);
-  EXPECT_EQ(0, traj->getNumWaypoints());  // TODO boost::optional
+  EXPECT_EQ(nullptr, traj);
 }