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Initialize grasp_frame_transform to Identity in MTC tutorial #1090

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Initialize grasp_frame_transform to Identity in MTC tutorial #1090

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2 changes: 1 addition & 1 deletion ...ce_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst
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Expand Up @@ -696,7 +696,7 @@ Before we compute inverse kinematics for the poses generated above, we first nee

.. code-block:: c++

Eigen::Isometry3d grasp_frame_transform;
Eigen::Isometry3d grasp_frame_transform = Eigen::Isometry3d::Identity();
Eigen::Quaterniond q = Eigen::AngleAxisd(M_PI / 2, Eigen::Vector3d::UnitX()) *
Eigen::AngleAxisd(M_PI / 2, Eigen::Vector3d::UnitY()) *
Eigen::AngleAxisd(M_PI / 2, Eigen::Vector3d::UnitZ());
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2 changes: 1 addition & 1 deletion doc/tutorials/pick_and_place_with_moveit_task_constructor/src/mtc_node.cpp
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Expand Up @@ -188,7 +188,7 @@ mtc::Task MTCTaskNode::createTask()
stage->setMonitoredStage(current_state_ptr); // Hook into current state

// This is the transform from the object frame to the end-effector frame
Eigen::Isometry3d grasp_frame_transform;
Eigen::Isometry3d grasp_frame_transform = Eigen::Isometry3d::Identity();
Eigen::Quaterniond q = Eigen::AngleAxisd(M_PI / 2, Eigen::Vector3d::UnitX()) *
Eigen::AngleAxisd(M_PI / 2, Eigen::Vector3d::UnitY()) *
Eigen::AngleAxisd(M_PI / 2, Eigen::Vector3d::UnitZ());
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