Fix: Fix Trajectory template usage for checkOvershoot with StandardVector (#3617)

Signed-off-by: Dhruv Patel <[email protected]>

Author: idesign0

moveit_core/trajectory_processing/include/moveit/trajectory_processing/ruckig_traj_smoothing.hpp

@@ -159,8 +159,8 @@ class RuckigSmoothing
                                        robot_trajectory::RobotTrajectory& trajectory);
 
   /** \brief Check if a trajectory out of Ruckig overshoots the target state */
-  static bool checkOvershoot(ruckig::Trajectory<ruckig::DynamicDOFs, ruckig::StandardVector>& ruckig_trajectory,
-                             const size_t num_dof, ruckig::InputParameter<ruckig::DynamicDOFs>& ruckig_input,
+  static bool checkOvershoot(ruckig::Trajectory<ruckig::DynamicDOFs>& ruckig_trajectory, const size_t num_dof,
+                             ruckig::InputParameter<ruckig::DynamicDOFs>& ruckig_input,
                              const double overshoot_threshold);
 };
 }  // namespace trajectory_processing

moveit_core/trajectory_processing/src/ruckig_traj_smoothing.cpp

@@ -422,8 +422,8 @@ void RuckigSmoothing::getNextRuckigInput(const moveit::core::RobotStateConstPtr&
   }
 }
 
-bool RuckigSmoothing::checkOvershoot(ruckig::Trajectory<ruckig::DynamicDOFs, ruckig::StandardVector>& ruckig_trajectory,
-                                     const size_t num_dof, ruckig::InputParameter<ruckig::DynamicDOFs>& ruckig_input,
+bool RuckigSmoothing::checkOvershoot(ruckig::Trajectory<ruckig::DynamicDOFs>& ruckig_trajectory, const size_t num_dof,
+                                     ruckig::InputParameter<ruckig::DynamicDOFs>& ruckig_input,
                                      const double overshoot_threshold)
 {
   // For every timestep