fix: bug in validate logic where attachments were only checked on first rake

zkingston · zkingston · commit 2573e1174afb · 2025-09-24T16:09:37.000-04:00
diff --git a/src/impl/vamp/planning/validate.hh b/src/impl/vamp/planning/validate.hh
@@ -55,7 +55,9 @@ namespace vamp::planning
                 block[j] = block[j] - backstep.broadcast(j);
             }
 
-            if (not Robot::template fkcc<rake>(environment, block))
+            bool valid = (environment.attachments) ? Robot::template fkcc_attach<rake>(environment, block) :
+                                                     Robot::template fkcc<rake>(environment, block);
+            if (not valid)
             {
                 return false;
             }

Original file line number	Diff line number	Diff line change
`@@ -55,7 +55,9 @@ namespace vamp::planning`
`55`	`55`	`block[j] = block[j] - backstep.broadcast(j);`
`56`	`56`	`}`
`57`	`57`
`58`		`- if (not Robot::template fkcc<rake>(environment, block))`
	`58`	`+ bool valid = (environment.attachments) ? Robot::template fkcc_attach<rake>(environment, block) :`
	`59`	`+ Robot::template fkcc<rake>(environment, block);`
	`60`	`+ if (not valid)`
`59`	`61`	`{`
`60`	`62`	`return false;`
`61`	`63`	`}`