From 4cbe84009f8ed96a422029bd95bfbe5ff7bdf660 Mon Sep 17 00:00:00 2001 From: Roelof Oomen Date: Fri, 6 Oct 2023 13:08:37 +0200 Subject: [PATCH] Fix collision_cost_config->collision_coeff_data --- tesseract_examples/src/car_seat_example.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/tesseract_examples/src/car_seat_example.cpp b/tesseract_examples/src/car_seat_example.cpp index f0700824b0..ba78d31a5b 100644 --- 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;