Fix collision_cost_config->collision_coeff_data

tesseract-robotics · Oct 6, 2023 · 4cbe840 · 4cbe840
1 parent 343b20c
commit 4cbe840
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/tesseract_examples/src/car_seat_example.cpp b/tesseract_examples/src/car_seat_example.cpp
@@ -267,8 +267,8 @@ bool CarSeatExample::run()
     trajopt_ifopt_composite_profile->collision_cost_config->contact_manager_config =
         tesseract_collision::ContactManagerConfig(0.005);
     trajopt_ifopt_composite_profile->collision_cost_config->collision_margin_buffer = 0.01;
-    trajopt_ifopt_composite_profile->collision_cost_config->contact_manager_config =
-        tesseract_collision::ContactManagerConfig(5);
+    trajopt_ifopt_composite_profile->collision_cost_config->collision_coeff_data =
+        trajopt_ifopt::CollisionCoeffData(5);
     trajopt_ifopt_composite_profile->smooth_velocities = false;
     trajopt_ifopt_composite_profile->velocity_coeff = Eigen::VectorXd::Ones(1);
     trajopt_ifopt_composite_profile->smooth_accelerations = true;