Cartesian distance cost function #3
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MatejBartosovic
suggested changes
Jul 7, 2021
stomp_plugins/include/stomp_plugins/cost_functions/cartesian_distance.h
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stomp_plugins/include/stomp_plugins/cost_functions/cartesian_distance.h
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stomp_plugins/include/stomp_plugins/cost_functions/cartesian_distance.h
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stomp_plugins/include/stomp_plugins/cost_functions/cartesian_distance.h
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| { | ||
| ROS_ERROR("Seed trajectory index %lu does not have %lu constraints (has %lu instead).", i, num_joints, n); | ||
| error_code.val = error_code.INVALID_GOAL_CONSTRAINTS; | ||
| initial_trajectory_.clear(); |
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I don't like how initial_trajectory_ member variable is shared between 2 functions. It look like it can not be avoided because of virtual interface but i would recommend you to use local variable and assign / mode to class only and only when it is valid. Also clear on the beginning of setMotionPlanRequest would be appropriate (make it as simple as ossible).
MatejBartosovic
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Jul 14, 2021
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