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plusone-robotics / moveit_simple

A wrapper around MoveIt that enables more traditional industrial robot programming.
Apache License 2.0
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Reintroduce optional parameter limit_joint_windup to getIK() #96

Closed henningkayser closed 5 years ago

henningkayser commented 5 years ago

This adds the default parameter limit_joint_windup to getIK() for enabling/disabling this featuer for low-level IK calls. This is necessary for instance when computing constrained IK solutions like pick/place poses (https://github.com/plusone-robotics/moveit_simple/pull/91).