auto f = this->_ispaths.front().front();
return PoseRange(f, f);
}
+ // FIXME PoseRange does not work as intended -- the goal is to have pose
+ // range at the same coordinates as entry configurations.
auto& c1 = this->_ispaths.front().front();
- auto& c2 = this->_ispaths.back().front();
- PoseRange p(c1, c2);
+ //auto& c2 = this->_ispaths.back().front();
+ PoseRange p(c1, c1);
if (swapped) {
this->swap_side();
p.reflect(this->_entry);