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PickNikRobotics / bio_ik

MoveIt kinematics_base plugin based on particle optimization & GA
BSD 3-Clause "New" or "Revised" License
13 stars 9 forks source link

MoveIt Task Constructor Integration #3

Closed wyattrees closed 2 years ago

wyattrees commented 2 years ago

This is a minor change, but until #2 is merged the diff will show otherwise.

In order to properly use bio_ik as a kinematics plugin within MoveIt Task Constructor, BioIKKinematicsQueryOptions must be copyable. This PR enables that functionality without writing a custom copy constructor. This can also probably wait until https://github.com/ros-planning/moveit_task_constructor/pull/370 is merged.

wyattrees commented 2 years ago

Branches are mangled, closing this in favor of newer, cleaner PR