Merge branch 'main' into pr-remove-panda-examples

moveit · Aug 18, 2023 · fef513c · fef513c
2 parents bd7dc97 + 5f651f0
commit fef513c
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Showing 3 changed files with 8 additions and 8 deletions.
diff --git a/...ce_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst b/...ce_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst
@@ -233,8 +233,8 @@ Open ``mtc_node.cpp`` in your editor of choice, and paste in the following code.
       auto interpolation_planner = std::make_shared<mtc::solvers::JointInterpolationPlanner>();
 
       auto cartesian_planner = std::make_shared<mtc::solvers::CartesianPath>();
-      cartesian_planner->setMaxVelocityScaling(1.0);
-      cartesian_planner->setMaxAccelerationScaling(1.0);
+      cartesian_planner->setMaxVelocityScalingFactor(1.0);
+      cartesian_planner->setMaxAccelerationScalingFactor(1.0);
       cartesian_planner->setStepSize(.01);
 
       auto stage_open_hand =
@@ -459,8 +459,8 @@ Feel free to try out the different solvers and see how the robot motion changes.
 .. code-block:: c++
 
       auto cartesian_planner = std::make_shared<mtc::solvers::CartesianPath>();
-      cartesian_planner->setMaxVelocityScaling(1.0);
-      cartesian_planner->setMaxAccelerationScaling(1.0);
+      cartesian_planner->setMaxVelocityScalingFactor(1.0);
+      cartesian_planner->setMaxAccelerationScalingFactor(1.0);
       cartesian_planner->setStepSize(.01);
 
 Now that we added in the planners, we can add a stage that will move the robot.

diff --git a/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/minimal.cpp b/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/minimal.cpp
@@ -124,8 +124,8 @@ mtc::Task MTCTaskNode::createTask()
   auto interpolation_planner = std::make_shared<mtc::solvers::JointInterpolationPlanner>();
 
   auto cartesian_planner = std::make_shared<mtc::solvers::CartesianPath>();
-  cartesian_planner->setMaxVelocityScaling(1.0);
-  cartesian_planner->setMaxAccelerationScaling(1.0);
+  cartesian_planner->setMaxVelocityScalingFactor(1.0);
+  cartesian_planner->setMaxAccelerationScalingFactor(1.0);
   cartesian_planner->setStepSize(.01);
 
   // clang-format off

diff --git a/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/mtc_node.cpp b/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/mtc_node.cpp
@@ -120,8 +120,8 @@ mtc::Task MTCTaskNode::createTask()
   auto interpolation_planner = std::make_shared<mtc::solvers::JointInterpolationPlanner>();
 
   auto cartesian_planner = std::make_shared<mtc::solvers::CartesianPath>();
-  cartesian_planner->setMaxVelocityScaling(1.0);
-  cartesian_planner->setMaxAccelerationScaling(1.0);
+  cartesian_planner->setMaxVelocityScalingFactor(1.0);
+  cartesian_planner->setMaxAccelerationScalingFactor(1.0);
   cartesian_planner->setStepSize(.01);
 
   // clang-format off