Merge pull request #370 from personalrobotics/bugfix/brianhou/retimer-statesaver

Add LinkTransformation flag to state saver in retimer.

Author: brianhou

src/prpy/planning/retimer.py

@@ -92,7 +92,8 @@ def RetimeTrajectory(self, robot, path, options=None, **kw_args):
         if not IsTimedTrajectory(output_traj):
             output_traj = SimplifyTrajectory(output_traj, robot)
 
-        with robot.CreateRobotStateSaver(Robot.SaveParameters.ActiveDOF), \
+        with robot.CreateRobotStateSaver(Robot.SaveParameters.ActiveDOF |
+                                         Robot.SaveParameters.LinkTransformation), \
             CollisionOptionsStateSaver(env.GetCollisionChecker(),
                                        CollisionOptions.ActiveDOFs):
             # Only collision check the active DOFs.