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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

Make BioIKKinematicsQueryOptions copyable #4

Closed wyattrees closed 2 years ago

wyattrees commented 2 years ago

In order to integrate bio_ik with MoveIt Task Constructor, BioIKKinematicsQueryOptions must be copy-constructable. Changing vector of goals to be shared_ptr's instead of unique_ptr's accomplishes this without having to write a custom copy ctor.

wyattrees commented 2 years ago

Closing as cost functions are not to be specified to MTC via the options--instead, use an IKCostFn: https://github.com/ros-planning/moveit_task_constructor/blob/1e65027b26744dccd02bd7d7ac4d0856916cfde5/core/src/solvers/cartesian_path.cpp#L62-L63