Fix build error

moveit · Aug 22, 2024 · 5e0f21c · 5e0f21c
1 parent 6ffa1a8
commit 5e0f21c
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/src/add_toppra_time_parameterization.cpp b/src/add_toppra_time_parameterization.cpp
@@ -137,9 +137,9 @@ class AddToppraTimeParameterization : public planning_interface::PlanningRespons
     auto& plant = dynamic_cast<const MultibodyPlant<double>&>(diagram_->GetSubsystemByName("plant"));
     auto& plant_context = diagram_->GetMutableSubsystemContext(plant, diagram_context_.get());
     const auto& current_state = planning_scene->getCurrentState();
-    VectorXd q = VectorXd::Zero(plant.num_positions() + plant.num_velocities());
-    q << moveit::drake::getJointPositions(current_state, getGroupName(), plant);
-    q << moveit::drake::getJointVelocities(current_state, getGroupName(), plant);
+    Eigen::VectorXd q = Eigen::VectorXd::Zero(plant.num_positions() + plant.num_velocities());
+    q << moveit::drake::getJointPositions(current_state, joint_model_group->getName(), plant);
+    q << moveit::drake::getJointVelocities(current_state, joint_model_group->getName(), plant);
     plant.SetPositionsAndVelocities(&plant_context, q);
 
     // Create drake::trajectories::Trajectory from moveit trajectory