update posediff to not use isometry

RobotLocomotion / robot-plan-runner

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update posediff to not use isometry #46

Closed hjsuh94 closed 2 years ago

hjsuh94 commented 2 years ago

The syntax for ComputePoseDiff has changed to directly accept RigidTransform as opposed to Eigen Isometries. Results in build failure and fixed by this PR.

This change is

mpetersen94 commented 2 years ago

src/plans/task_space_trajectory_plan.cc line 30 at r1 (raw file):

  const Vector6<double> V_WT_desired =
      ComputePoseDiffInCommonFrame(X_WT, X_WT_desired) / 
          params_->get_timestep();

nit: could you align this with Compute...?