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base repository: tesseract-robotics/tesseract_planning
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base: d9769990cf898c1f1d039e1cb1a5b50fd573641a
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..
head repository: tesseract-robotics/tesseract_planning
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compare: c3ef6af89e214cecb65b6648e3a5f4886bd80fe3
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1 change: 1 addition & 0 deletions tesseract_motion_planners/trajopt_ifopt/CMakeLists.txt
Original file line number Diff line number Diff line change
@@ -5,6 +5,7 @@ find_package(trajopt_sqp REQUIRED)
add_library(
${PROJECT_NAME}_trajopt_ifopt SHARED
src/trajopt_ifopt_motion_planner.cpp
src/trajopt_ifopt_problem.cpp
src/trajopt_ifopt_utils.cpp
src/profile/trajopt_ifopt_default_plan_profile.cpp
src/profile/trajopt_ifopt_default_composite_profile.cpp
Original file line number Diff line number Diff line change
@@ -50,7 +50,7 @@ class TrajOptIfoptDefaultSolverProfile : public TrajOptIfoptSolverProfile
using ConstPtr = std::shared_ptr<const TrajOptIfoptDefaultSolverProfile>;

TrajOptIfoptDefaultSolverProfile();
~TrajOptIfoptDefaultSolverProfile() override = default;
~TrajOptIfoptDefaultSolverProfile() override;
TrajOptIfoptDefaultSolverProfile(const TrajOptIfoptDefaultSolverProfile&) = default;
TrajOptIfoptDefaultSolverProfile& operator=(const TrajOptIfoptDefaultSolverProfile&) = default;
TrajOptIfoptDefaultSolverProfile(TrajOptIfoptDefaultSolverProfile&&) = default;
Original file line number Diff line number Diff line change
@@ -48,6 +48,8 @@ TrajOptIfoptDefaultSolverProfile::TrajOptIfoptDefaultSolverProfile()
convex_solver_settings->setRelativeTolerance(1e-6);
}

TrajOptIfoptDefaultSolverProfile::~TrajOptIfoptDefaultSolverProfile() = default;

void TrajOptIfoptDefaultSolverProfile::apply(TrajOptIfoptProblem& problem) const
{
copyOSQPEigenSettings(*problem.convex_solver_settings, *convex_solver_settings);