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plusone-robotics / moveit_simple

A wrapper around MoveIt that enables more traditional industrial robot programming.
Apache License 2.0
15 stars 12 forks source link

Added isReachableStatic and isInCollisionStatic and transformToBaseStatic #55

Closed geoffreychiou closed 6 years ago

geoffreychiou commented 6 years ago

The original functions called transformToBase, which made a tf lookup for every single request causing lots of lag. These functions assume the transform to be static and will only look it up for the first instance.

@joshuaplusone please review.

geoffreychiou commented 6 years ago

Setting to WIP as @joshuaplusone has some requested changes.

geoffreychiou commented 6 years ago

@joshuaplusone refactored as your requested, this is review ready.