Added customToolFrameTF() function to address Issue #20.

[MauleshSTrivedi]

Added support for custom tool frame to solve IK.

[nsnitish]

@MauleshSTrivedi ! I think you have uploaded some cmake and catkin generated files which should not be here. Please get rid of those. Also, the travis is failing.

[MauleshSTrivedi]

@nsnitish Oh, my bad, I didn't realize. I'll get on it in a bit. I will update this PR by tomorrow morning.

[shaun-edwards]

@MauleshSTrivedi, always review the PR changes before you submit. Mistakes such as this are obvious in the changes tab.

[gavanderhoorn]

@MauleshSTrivedi: out of curiosity: how did you setup your workspace? Seeing those CMake configuration phase files in your PR makes me wonder if you are using the moveit_simple package root as the root of your workspace.

How are you building things?

[MauleshSTrivedi]

@gavanderhoorn I think these files crept in when I tried to sync my project with QT (as far as I can remember).. my project setup looks something like this -- /home/mauleshtrivedi/foo_projects/moveit_simple_workspace/src/moveit_simple /home/mauleshtrivedi/foo_projects/moveit_simple_workspace/src/prettyprint

And the only git repositories in my foo_projects are moveit_simple and prettyprint. Does that help?

[gavanderhoorn]

qtc will do that to you, yes.

Have you looked at @levi-armstrong's plugin?

[MauleshSTrivedi]

@gavanderhoorn I have not looked into it but that's a good idea.. let me try that later with another test project.. for now, I need to find a way to remove these autogenerated files.. I'm thinking of just creating a fresh repo in the worst case.. shouldn't take time.

[gavanderhoorn]

Commit / stash any outstanding changes, make sure you don't have any untracked files that should really be tracked, then run a git clean -fnd and inspect the output.

If it's ok, run git clean -fd and your clones should be back to their HEAD.

[MauleshSTrivedi]

@gavanderhoorn git clean returns: Would remove moveit_simple/CMakeFiles/CMakeTmp/ Would remove moveit_simple/gtest/ Would remove moveit_simple/test_results/

But there are more than these 3 directories that QT created.. I'll remove these from my commit for now, but I still think it would be a better idea to clone moveit_simple from scratch just to be sure (I might be overthinking)

[gavanderhoorn]

Up to you.

[MauleshSTrivedi]

@shaun-edwards So sorry for the mess.. I should've been more careful before submitting the PR. I'll make sure to double check travis before submitting a request.

[MauleshSTrivedi]

@gavanderhoorn Thank you so much. You have been most helpful. I've installed Levi's ppa and I'll test it with qt in a bit.

[shaun-edwards]

+1 to using Levi's QT plugin