From 563cfa9b84ba94ea2ac3ff6fb2a313be8d98c595 Mon Sep 17 00:00:00 2001
From: Levi Armstrong <levi.armstrong@gmail.com>
Date: Mon, 31 Jul 2023 16:10:26 -0500
Subject: [PATCH] Fix benchmarks

---
 .../trajopt_sqp/test/benchmarks/solve_benchmarks.cpp            | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/trajopt_optimizers/trajopt_sqp/test/benchmarks/solve_benchmarks.cpp b/trajopt_optimizers/trajopt_sqp/test/benchmarks/solve_benchmarks.cpp
index e053172b..3edb51c1 100644
--- a/trajopt_optimizers/trajopt_sqp/test/benchmarks/solve_benchmarks.cpp
+++ b/trajopt_optimizers/trajopt_sqp/test/benchmarks/solve_benchmarks.cpp
@@ -260,8 +260,8 @@ static void BM_TRAJOPT_IFOPT_PLANNING_SOLVE(benchmark::State& state, Environment
     double margin_coeff = 20;
     double margin = 0.025;
     auto trajopt_collision_config = std::make_shared<trajopt_ifopt::TrajOptCollisionConfig>(margin, margin_coeff);
+    trajopt_collision_config->type = tesseract_collision::CollisionEvaluatorType::CONTINUOUS;
     trajopt_collision_config->collision_margin_buffer = 0.01;
-    trajopt_collision_config->longest_valid_segment_length = 0.02;
 
     // Add costs
     {