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moveit / moveit_ikfast

THIS REPO HAS MOVED TO https://github.com/ros-planning/moveit
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Kinematics base update #57

Closed jrgnicho closed 8 years ago

jrgnicho commented 8 years ago

This PR addresses the issue discussed in #56 In a nutshell, this PR updates the ikfast template so that it overloads the getPositionIk(...) method in the moveit_core::KinematicsBase class that returns multiple solutions. @gavanderhoorn please review

Jmeyer1292 commented 8 years ago

@gavanderhoorn ping

gavanderhoorn commented 8 years ago

Yeah I know. Might be able to do it this week.

Jmeyer1292 commented 8 years ago

@gavanderhoorn I know you're super busy, but this still needs a fair shake.

davetcoleman commented 8 years ago

+1

Jmeyer1292 commented 8 years ago

@jrgnicho Ping

jrgnicho commented 8 years ago

@davetcoleman I added the requested explanation comments and removed the unnecessary console debug message printing.

jrgnicho commented 8 years ago

@davetcoleman These minor changes make the indigo-devel branch slightly different from the jade-devel branch. Not sure that this is a problem but if it is then I could create PR's for jade-devel and kinetic that will push these changes into those branches.

davetcoleman commented 8 years ago

Mirroring these changes in the J/K branches sounds like a good idea to me.

jrgnicho commented 8 years ago

@davetcoleman then I'll create PR's into those branches to mirror the changes here.