Merge pull request RobotLocomotion#6497 from siyuanfeng-tri/fix/pp_demo

make kuka_plan_runner to ignore all plan msg that has fewer than 2 knots.
Raptura · Jul 5, 2017 · 465ef04 · 465ef04
2 parents 8253824 + 46e0ac1
commit 465ef04
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/drake/examples/kuka_iiwa_arm/kuka_plan_runner.cc b/drake/examples/kuka_iiwa_arm/kuka_plan_runner.cc
@@ -115,6 +115,9 @@ class RobotPlanRunner {
       std::cout << "Discarding plan, no status message received yet"
                 << std::endl;
       return;
+    } else if (plan->num_states < 2) {
+      std::cout << "Discarding plan, Not enough knot points." << std::endl;
+      return;
     }
 
     std::vector<Eigen::MatrixXd> knots(plan->num_states,