Don't reset the smoother_ every time

AndyZe · Oct 22, 2023 · 055dbc0 · 055dbc0
1 parent 6f27291
commit 055dbc0
Showing 1 changed file with 0 additions and 1 deletion.
diff --git a/moveit_ros/moveit_servo/src/servo.cpp b/moveit_ros/moveit_servo/src/servo.cpp
@@ -460,7 +460,6 @@ KinematicState Servo::getNextJointState(const ServoInput& command)
     // Update filter state and apply filtering in position domain
     if (smoother_)
     {
-      smoother_->reset(current_state.positions, current_state.velocities, current_state.accelerations);
       smoother_->doSmoothing(target_state.positions, target_state.velocities, target_state.accelerations);
     }