Remove incorrect override of tip_frames (#68)

amalnanavati · web-flow · commit 5b6dffc14871 · 2024-09-30T10:11:49.000-04:00
diff --git a/src/pick_ik_plugin.cpp b/src/pick_ik_plugin.cpp
@@ -71,13 +71,6 @@ class PickIKPlugin : public kinematics::KinematicsBase {
             }
         }
 
-        // If jmg has tip frames, set tip_frames_ to jmg tip frames
-        // consider removing these lines as they might be unnecessary
-        // as tip_frames_ is set by the call to storeValues above
-        auto jmg_tips = std::vector<std::string>{};
-        jmg_->getEndEffectorTips(jmg_tips);
-        if (!jmg_tips.empty()) tip_frames_ = jmg_tips;
-
         // link_names are the same as tip frames
         // TODO: why do we need to set this
         link_names_ = tip_frames_;

Original file line number	Diff line number	Diff line change
`@@ -71,13 +71,6 @@ class PickIKPlugin : public kinematics::KinematicsBase {`
`71`	`71`	`}`
`72`	`72`	`}`
`73`	`73`
`74`		`- // If jmg has tip frames, set tip_frames_ to jmg tip frames`
`75`		`- // consider removing these lines as they might be unnecessary`
`76`		`- // as tip_frames_ is set by the call to storeValues above`
`77`		`- auto jmg_tips = std::vector<std::string>{};`
`78`		`- jmg_->getEndEffectorTips(jmg_tips);`
`79`		`- if (!jmg_tips.empty()) tip_frames_ = jmg_tips;`
`80`		`-`
`81`	`74`	`// link_names are the same as tip frames`
`82`	`75`	`// TODO: why do we need to set this`
`83`	`76`	`link_names_ = tip_frames_;`