Adapt to latest trajopt

tesseract-robotics · Nov 21, 2023 · 55f1312 · 55f1312
1 parent d3a75fa
commit 55f1312
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Showing 3 changed files with 5 additions and 5 deletions.
diff --git a/tesseract_examples/src/car_seat_example.cpp b/tesseract_examples/src/car_seat_example.cpp
@@ -261,13 +261,13 @@ bool CarSeatExample::run()
         tesseract_collision::ContactManagerConfig(0.00);
     trajopt_ifopt_composite_profile->collision_constraint_config->collision_margin_buffer = 0.005;
     trajopt_ifopt_composite_profile->collision_constraint_config->collision_coeff_data =
-        trajopt_ifopt::CollisionCoeffData(1);
+        trajopt_common::CollisionCoeffData(1);
     trajopt_ifopt_composite_profile->collision_cost_config->type =
         tesseract_collision::CollisionEvaluatorType::LVS_DISCRETE;
     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->collision_coeff_data = trajopt_ifopt::CollisionCoeffData(5);
+    trajopt_ifopt_composite_profile->collision_cost_config->collision_coeff_data = trajopt_common::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;

diff --git a/tesseract_examples/src/pick_and_place_example.cpp b/tesseract_examples/src/pick_and_place_example.cpp
@@ -207,13 +207,13 @@ bool PickAndPlaceExample::run()
         tesseract_collision::ContactManagerConfig(0.00);
     trajopt_ifopt_composite_profile->collision_constraint_config->collision_margin_buffer = 0.005;
     trajopt_ifopt_composite_profile->collision_constraint_config->collision_coeff_data =
-        trajopt_ifopt::CollisionCoeffData(1);
+        trajopt_common::CollisionCoeffData(1);
     trajopt_ifopt_composite_profile->collision_cost_config->type =
         tesseract_collision::CollisionEvaluatorType::LVS_DISCRETE;
     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->collision_coeff_data = trajopt_ifopt::CollisionCoeffData(5);
+    trajopt_ifopt_composite_profile->collision_cost_config->collision_coeff_data = trajopt_common::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;

diff --git a/tesseract_examples/src/puzzle_piece_example.cpp b/tesseract_examples/src/puzzle_piece_example.cpp
@@ -207,7 +207,7 @@ bool PuzzlePieceExample::run()
     trajopt_ifopt_composite_profile->collision_cost_config->contact_manager_config =
         tesseract_collision::ContactManagerConfig(0.025);
     trajopt_ifopt_composite_profile->collision_cost_config->collision_margin_buffer = 0.05;
-    trajopt_ifopt_composite_profile->collision_cost_config->collision_coeff_data = trajopt_ifopt::CollisionCoeffData(2);
+    trajopt_ifopt_composite_profile->collision_cost_config->collision_coeff_data = trajopt_common::CollisionCoeffData(2);
     trajopt_ifopt_composite_profile->smooth_velocities = false;
     trajopt_ifopt_composite_profile->velocity_coeff = Eigen::VectorXd::Ones(1);
     trajopt_ifopt_composite_profile->smooth_accelerations = true;