Closed jrgnicho closed 8 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.
The title of the PR is wrong, I added a few comments, but otherwise looks good
Wait nevermind, title make sense
The last commit added the check for discretization values <= 0
I have created a jade branch, could you address the final comments and create a new PR for jade?
@jrgnicho Given that the supporting pull requests were merged fairly recently, what is the status of this update?
Duplicate of #51.
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.