[pr2eus_moveit] modify :angle-vector-motion-plan to accept angle-vector-sequence

[knorth55]

What Changed:

• modify :angle-vector-motion-plan to accept angle-vector-sequence
• set (butlast avs) as trajectory constraints

I checked with real robot and it works

[knorth55]

@k-okada ping. please make a review and merge this?

[k-okada]

do you think you can write something like if (listp av) ...

◉ Kei Okada

2016-11-21 20:24 GMT+09:00 Shingo Kitagawa notifications@github.com:

@k-okada https://github.com/k-okada ping. please make a review and
merge this?

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[knorth55]

i added listp check as below
https://github.com/knorth55/jsk_pr2eus/blob/1b02307d902ae9c94ec8e1a77d2b268dd5e319c5/pr2eus_moveit/euslisp/robot-moveit.l#L496-L498

[k-okada]

oh, I mean without :set-angle-vector-sequence

◉ Kei Okada

2016-11-21 21:48 GMT+09:00 Shingo Kitagawa notifications@github.com:

i added listp check as below
https://github.com/knorth55/jsk_pr2eus/blob/1b02307d902ae9c94ec8e1a77d2b26
8dd5e319c5/pr2eus_moveit/euslisp/robot-moveit.l#L496-L498

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[knorth55]

like this? https://github.com/knorth55/jsk_pr2eus/blob/3a2526964d208f9c93f6bdcf7149f399dfa3cc06/pr2eus_moveit/euslisp/robot-moveit.l#L320-L321

[knorth55]

i added listp check and warning in :angle-vector-motion-plan, too
https://github.com/knorth55/jsk_pr2eus/blob/25d95bc4874bdebea7b3a564aecf8653796ab3b2/pr2eus_moveit/euslisp/robot-moveit.l#L510-L512

[knorth55]

@k-okada ping.

[knorth55]

Please merge this

[knorth55]

@k-okada ping. please merge this.

[k-okada]

Is removing :set-angle-vector-sequence difficult? 2016年11月25日(金) 10:16 Shingo Kitagawa <notifications@github.com>:

…

@k-okada <https://github.com/k-okada> ping. please merge this. — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#259 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AAeG3LUf-v92m8G9JeUVPOoPUZF-6Rw3ks5rBjbmgaJpZM4K2OZo> .

[knorth55]

@k-okada I updated and remove :set-angle-vector-sequence
I checked with real robot, and it works.

[k-okada]

Thanks, may be we do not need :angle-vector-sequence-motion-plan any more, :angle-vector-motion-plan accepts both atom and list

[knorth55]

@k-okada ok, i remove angle-vector-sequence-motion-plan, and now angle-vector-motion-plan accepts both atom and list.

[k-okada]

thanks

…

-- ◉ Kei Okada 2016-11-27 0:48 GMT+09:00 Shingo Kitagawa <notifications@github.com>:

@k-okada <https://github.com/k-okada> ok, i remove angle-vector-sequence-motion-plan, and now angle-vector-motion-plan accepts both atom and list. — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#259 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AAeG3M9zJc51YatN0k9ZQ_A_fron1_cvks5rCFTpgaJpZM4K2OZo> .