Use the full time available when solution callback fails

PickNikRobotics / bio_ik

MoveIt kinematics_base plugin based on particle optimization & GA

BSD 3-Clause "New" or "Revised" License

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Use the full time available when solution callback fails #21

Open timonegk opened 1 month ago

timonegk commented 1 month ago

This pull request changes the behavior of BioIK when the solution callback fails. Instead of failing the IK call, the solver is restarted with a random seed as long as there is still time available. The same approach is also used by MoveIt's KDL plugin (see here).