Closed jrgnicho closed 8 years ago
@gavanderhoorn ping
Yeah I know. Might be able to do it this week.
@gavanderhoorn I know you're super busy, but this still needs a fair shake.
+1
@jrgnicho Ping
@davetcoleman I added the requested explanation comments and removed the unnecessary console debug message printing.
@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.
Mirroring these changes in the J/K branches sounds like a good idea to me.
@davetcoleman then I'll create PR's into those branches to mirror the changes here.
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