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What KinematicsBase function to use for returning all IK solutions? #4

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JeroenDM opened this issue Jul 28, 2018 · 2 comments
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What KinematicsBase function to use for returning all IK solutions? #4

JeroenDM opened this issue Jul 28, 2018 · 2 comments

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@JeroenDM
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I defined this function to return all valid solutions calculated by opw_kinematics. This does not seem right. I could not find an example in the universal robot kinematics plugin.

This is related to the fact that descartes uses a custom MoveIt! wrapper to get all the soluitons, as discussed here and here.
@JeroenDM
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Based on this discussion I think I did use the right function. Also, the obvious fact that it is implemented that way in the ikfast plugin, which I somehow missed.

@JeroenDM JeroenDM mentioned this issue Aug 30, 2019
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@simonschmeisser
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then let's reopen this?

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@simonschmeisser @JeroenDM