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moveit / moveit_ikfast

THIS REPO HAS MOVED TO https://github.com/ros-planning/moveit
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Kinematics Base changes in moveit_core #50

Closed jrgnicho closed 8 years ago

jrgnicho commented 9 years ago

This PR modifies the plugin template so that it implements the new getPositionIK(...) method of the kinematics::KinematicsBase interface in the moveit_core repository, see here for more details on this change. This new method returns multiple ik solutions for the same pose of the tool.

jrgnicho commented 9 years ago

The latest changes add redundancy joint sampling to the getPositionIK method. Also, this method now takes the ik_seed_state argument. When no sampling is used then the redundant joint is initialized from the seed.

davetcoleman commented 9 years ago

The title of the PR is wrong, I added a few comments, but otherwise looks good

davetcoleman commented 9 years ago

Wait nevermind, title make sense

jrgnicho commented 9 years ago

The last commit added the check for discretization values <= 0

davetcoleman commented 9 years ago

I have created a jade branch, could you address the final comments and create a new PR for jade?

Jmeyer1292 commented 8 years ago

@jrgnicho Given that the supporting pull requests were merged fairly recently, what is the status of this update?

sachinchitta commented 8 years ago

Duplicate of #51.