[exotica_ompl_solver] Use RN for planar base to work around #629

ipab-slmc · Jul 11, 2019 · 3828732 · 3828732
1 parent 7912f40
commit 3828732
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/exotations/solvers/exotica_ompl_solver/src/ompl_solver.cpp b/exotations/solvers/exotica_ompl_solver/src/ompl_solver.cpp
@@ -48,7 +48,7 @@ void OMPLSolver<ProblemType>::SpecifyProblem(PlanningProblemPtr pointer)
     if (prob_->GetScene()->GetKinematicTree().GetControlledBaseType() == BaseType::FIXED)
         state_space_.reset(new OMPLRNStateSpace(init_));
     else if (prob_->GetScene()->GetKinematicTree().GetControlledBaseType() == BaseType::PLANAR)
-        state_space_.reset(new OMPLSE2RNStateSpace(init_));
+        state_space_.reset(new OMPLRNStateSpace(init_));  // NB: We have a dedicated OMPLSE2RNStateSpace, however, for now we cannot set orientation bounds on it - as thus we are using the RN here. Cf. issue #629.
     else if (prob_->GetScene()->GetKinematicTree().GetControlledBaseType() == BaseType::FLOATING)
         state_space_.reset(new OMPLSE3RNStateSpace(init_));
     else