Allow KinematicSimulationTrajectoryExecutor to execute trajectories c…

…ontaining subsets of the skeleton. (#374) * Allow KinematicSimulationTrajectoryExecutor to execute trajectories containing subsets of the skeleton. * Allow InstantaneousTrajectoryExecutor to execute trajectories containing subsets of the skeleton.
personalrobotics · Apr 18, 2018 · 7724899 · 7724899
1 parent 42fa347
commit 7724899
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Showing 3 changed files with 3 additions and 2 deletions.
diff --git a/include/aikido/control/TrajectoryExecutor.hpp b/include/aikido/control/TrajectoryExecutor.hpp
@@ -3,6 +3,7 @@
 
 #include <chrono>
 #include <future>
+#include <set>
 #include "aikido/common/pointers.hpp"
 #include "aikido/trajectory/Trajectory.hpp"
 

diff --git a/src/control/InstantaneousTrajectoryExecutor.cpp b/src/control/InstantaneousTrajectoryExecutor.cpp
@@ -41,7 +41,7 @@ void InstantaneousTrajectoryExecutor::validate(
 
   // TODO: Delete this line once the skeleton is locked by isCompatible
   std::lock_guard<std::mutex> lock(mSkeleton->getMutex());
-  space->checkCompatibility(mSkeleton.get());
+  space->checkIfContained(mSkeleton.get());
 
   mValidatedTrajectories.emplace(traj);
 }

diff --git a/src/control/KinematicSimulationTrajectoryExecutor.cpp b/src/control/KinematicSimulationTrajectoryExecutor.cpp
@@ -58,7 +58,7 @@ void KinematicSimulationTrajectoryExecutor::validate(
 
   // TODO: Delete this line once the skeleton is locked by isCompatible
   std::lock_guard<std::mutex> lock(mSkeleton->getMutex());
-  space->checkCompatibility(mSkeleton.get());
+  space->checkIfContained(mSkeleton.get());
 
   mValidatedTrajectories.emplace(traj);
 }