wip on utils

Author: mpowelson

tesseract/tesseract_planning/tesseract_motion_planners/include/tesseract_motion_planners/trajopt_ifopt/problem_generators/default_problem_generator.h

@@ -36,7 +36,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
 namespace tesseract_planning
 {
-ifopt::Problem DefaultTrajoptProblemGenerator(const std::string& name,
+std::shared_ptr<ifopt::Problem> DefaultTrajoptProblemGenerator(const std::string& name,
                                                          const PlannerRequest& request,
                                                          const TrajOptIfoptPlanProfileMap& plan_profiles,
                                                          const TrajOptIfoptCompositeProfileMap& composite_profiles);

tesseract/tesseract_planning/tesseract_motion_planners/include/tesseract_motion_planners/trajopt_ifopt/profile/trajopt_ifopt_default_plan_profile.h

@@ -89,7 +89,7 @@ class TrajOptIfoptDefaultPlanProfile : public TrajOptIfoptPlanProfile
 //protected:
 //  void addConstraintErrorFunctions(TrajOptIfopt::ProblemConstructionInfo& pci, const std::vector<int>& fixed_steps) const;
 
-//  void addAvoidSingularity(TrajOptIfopt::ProblemConstructionInfo& pci, const std::vector<int>& fixed_steps) const;
+//  void addAvoidSingularity(TrajOptIfopt::ProblemConstructionInfo& pci, const std::vector<int>& fixed_steps) const;s
 };
 }  // namespace tesseract_planning