Check for active target in CartPoseErrCalc

tesseract-robotics · Dec 7, 2023 · 5678904 · 5678904
1 parent 37d6f62
commit 5678904
Showing 1 changed file with 1 addition and 0 deletions.
diff --git a/trajopt/src/kinematic_terms.cpp b/trajopt/src/kinematic_terms.cpp
@@ -175,6 +175,7 @@ CartPoseErrCalculator::CartPoseErrCalculator(tesseract_kinematics::JointGroup::C
   , indices_(std::move(indices))
 {
   assert(indices_.size() <= 6);
+  is_target_active_ = manip_->isActiveLinkName(target_frame_);
 
   // Check to see if the waypoint is toleranced and set the error function accordingly
   if ((lower_tolerance.size() == 0 && upper_tolerance.size() == 0) || lower_tolerance.isApprox(upper_tolerance, 1e-6))