From 21c8c547b8af184e46e4cdf67ba6583e8d32a01a Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Sun, 10 Mar 2024 18:02:11 +0100
Subject: [PATCH] Revert "Update to the more recent JumpThreshold API (#506)"

This reverts commit 11c3126052cec6bb814f8e1babae8fcfe03cccb8.
---
 core/src/solvers/cartesian_path.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/core/src/solvers/cartesian_path.cpp b/core/src/solvers/cartesian_path.cpp
index 588ba837f..d5d37c5c3 100644
--- a/core/src/solvers/cartesian_path.cpp
+++ b/core/src/solvers/cartesian_path.cpp
@@ -120,7 +120,7 @@ PlannerInterface::Result CartesianPath::plan(const planning_scene::PlanningScene
 	double achieved_fraction = moveit::core::CartesianInterpolator::computeCartesianPath(
 	    &(sandbox_scene->getCurrentStateNonConst()), jmg, trajectory, &link, target, true,
 	    moveit::core::MaxEEFStep(props.get<double>("step_size")),
-	    moveit::core::JumpThreshold::relative(props.get<double>("jump_threshold")), is_valid,
+	    moveit::core::JumpThreshold(props.get<double>("jump_threshold")), is_valid,
 	    props.get<kinematics::KinematicsQueryOptions>("kinematics_options"),
 	    props.get<kinematics::KinematicsBase::IKCostFn>("kinematics_cost_fn"), offset);