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RethinkRobotics-opensource / sns_ik

Saturation in the Null Space (SNS) Inverse Kinematic Library
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Fix SNS_Optimal Velocity Solver to pass tests #87

Open IanTheEngineer opened 6 years ago

IanTheEngineer commented 6 years ago

The failing test is inside: sns_ik_lib/test/sns_ik_vel_test.cpp:

TEST(sns_ik, vel_ik_SNS_Optimal_test) {
   runSnsVelkTest(23539, sns_ik::VelocitySolveType::SNS_Optimal); }

This test should be commented out for now, to allow for CI testing. Longer term, we need to figure out what the issue is with the SNS Optimal solver.