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rm unnessary time offset in pilz #3169

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rm unnessary time offset in pilz #3169

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14 changes: 13 additions & 1 deletion moveit_planners/pilz_industrial_motion_planner/src/plan_components_builder.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -54,6 +54,11 @@ std::vector<robot_trajectory::RobotTrajectoryPtr> PlanComponentsBuilder::build()
void PlanComponentsBuilder::appendWithStrictTimeIncrease(robot_trajectory::RobotTrajectory& result,
const robot_trajectory::RobotTrajectory& source)
{
if (!source.getWayPointCount())
{
return;
}

if (result.empty())
{
result.append(source, 0.0);
Expand All @@ -62,7 +67,14 @@ void PlanComponentsBuilder::appendWithStrictTimeIncrease(robot_trajectory::Robot
if (!pilz_industrial_motion_planner::isRobotStateEqual(result.getLastWayPoint(), source.getFirstWayPoint(),
result.getGroupName(), ROBOT_STATE_EQUALITY_EPSILON))
{
result.append(source, source.getWayPointDurationFromStart(0));
if (source.getWayPointDurationFromPrevious(0) == 0)
{
result.append(source, source.getWayPointDurationFromStart(0));
}
else
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{
result.append(source, 0.0);
}
return;
}

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