Adds SharedPtr Get interface for Pos & Vel solvers

RethinkRobotics-opensource / sns_ik

Saturation in the Null Space (SNS) Inverse Kinematic Library

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Closed rethink-imcmahon closed 8 years ago

rethink-imcmahon commented 8 years ago

This Adds a shared_ptr get interface for the position and velocity solvers inside the SNS_IK class.

Also, it fills out the testing framework a bit by iterating over different types of velocity solvers.

rethink-imcmahon commented 8 years ago

Updated based on your comments, Forrest.

rethink-forrest commented 8 years ago

Did you build after after your latest commit? Looks like you might have broken the build.

Specifically:

pos_solver->setTolerance used in ik_tests.cpp no long exists
SNSPositionIK::getChain() fails because you try to directly copy a KDL::Chain into std::shared_ptrKDL::Chain&

rethink-imcmahon commented 8 years ago

Right you are. I thought I did test it, but apparently not.