From 7bc679d8e8e15abfcd45bfefad752af98d60fefe Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Tue, 4 Oct 2022 14:39:39 +0200
Subject: [PATCH] fix: using obstacles in optimization
---
source/armarx/navigation/local_planning/TebObstacleManager.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/source/armarx/navigation/local_planning/TebObstacleManager.cpp b/source/armarx/navigation/local_planning/TebObstacleManager.cpp
index e2402e12..e16fffd3 100644
--- a/source/armarx/navigation/local_planning/TebObstacleManager.cpp
+++ b/source/armarx/navigation/local_planning/TebObstacleManager.cpp
@@ -37,7 +37,7 @@ namespace armarx::navigation::local_planning
obst->pushBackVertex(max.x(), min.y());
obst->finalizePolygon();
- obst->setUseForOptimization(false);
+ obst->setUseForOptimization(true);
container.push_back(obst);
// visualize bounding box if layer is available
--
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