From 818f7f3f91ef41ca0c1d7e0aa2704db6964b3f73 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Wed, 11 Oct 2023 13:19:24 +0200
Subject: [PATCH] Simplify solver config

---
 demo/src/fallbacks_move_to.cpp | 16 +++++-----------
 1 file changed, 5 insertions(+), 11 deletions(-)

diff --git a/demo/src/fallbacks_move_to.cpp b/demo/src/fallbacks_move_to.cpp
index f933d0eb4..25ab8738b 100644
--- a/demo/src/fallbacks_move_to.cpp
+++ b/demo/src/fallbacks_move_to.cpp
@@ -37,17 +37,11 @@ int main(int argc, char** argv) {
 	auto cartesian = std::make_shared<solvers::CartesianPath>();
 	cartesian->setJumpThreshold(2.0);
 
-	const auto ptp = []() {
-		auto pp{ std::make_shared<solvers::PipelinePlanner>("pilz_industrial_motion_planner") };
-		pp->setPlannerId("PTP");
-		return pp;
-	}();
-
-	const auto rrtconnect = []() {
-		auto pp{ std::make_shared<solvers::PipelinePlanner>("ompl") };
-		pp->setPlannerId("RRTConnect");
-		return pp;
-	}();
+	auto ptp = std::make_shared<solvers::PipelinePlanner>("pilz_industrial_motion_planner");
+	ptp->setPlannerId("PTP");
+
+	auto rrtconnect = std::make_shared<solvers::PipelinePlanner>("ompl");
+	rrtconnect->setPlannerId("RRTConnect");
 
 	// target end state for all Task plans
 	std::map<std::string, double> target_state;