Fix doxygen documentation for setToIKSolverFrame #2461
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rhaschke
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Dec 16, 2020
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No. Looking into the code, ik_frame indeed refers to the solver's frame, while it is assumed that pose is given w.r.t. the robot model's base frame.
I suggest making this function private (static) within robot_state.cpp. It's only used therein and probably not very useful externally.
moveit_core/robot_state/include/moveit/robot_state/robot_state.h
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@@ Coverage Diff @@
## master #2461 +/- ##
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- Coverage 60.32% 60.27% -0.05%
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Files 351 351
Lines 26455 26455
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- Hits 15957 15943 -14
- Misses 10498 10512 +14
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Can't be static because it uses a member variable (robot_model_). Sounds good to me, otherwise |
rhaschke
requested changes
Dec 17, 2020
| @@ -901,21 +901,13 @@ class RobotState | |||
| */ | |||
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| /** | |||
| * \brief Convert the frame of reference of the pose to that same frame as the IK solver expects | |||
| * \brief Transform pose from the robot model's base frame to the reference frame of the IK solver | |||
| * @param pose - the input to change | |||
| * @param solver - a kin solver whose base frame is important to us | |||
| * @return true if no error | |||
| */ | |||
| bool setToIKSolverFrame(Eigen::Isometry3d& pose, const kinematics::KinematicsBaseConstPtr& solver); | |||
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Please make this other function private as well. It could become inline also...
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You mean, make both function versions inline, right?
rhaschke
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Dec 17, 2020
moveit_core/robot_state/include/moveit/robot_state/robot_state.h
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Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com>
v4hn
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Apr 6, 2021
This is public API because the solver's getPositionIK requires input poses in the frame and the relevant transform is otherwise inaccessible. Partially reverts moveit#2461.
rhaschke
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This is public API because the solver's getPositionIK requires input poses in the frame and the relevant transform is otherwise inaccessible. Partially reverts #2461.
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tylerjw
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Apr 29, 2021
* Fix doxygen documentation for setToIKSolverFrame * "Convert" -> "Transform" * Make function private. Update comments. * Make inline and private * Longer function should not be inline Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com> Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com>
tylerjw
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Apr 29, 2021
This is public API because the solver's getPositionIK requires input poses in the frame and the relevant transform is otherwise inaccessible. Partially reverts moveit#2461.
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tylerjw
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May 3, 2021
* Fix doxygen documentation for setToIKSolverFrame * "Convert" -> "Transform" * Make function private. Update comments. * Make inline and private * Longer function should not be inline Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com> Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com>
tylerjw
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May 3, 2021
This is public API because the solver's getPositionIK requires input poses in the frame and the relevant transform is otherwise inaccessible. Partially reverts moveit#2461.
tylerjw
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May 3, 2021
* Fix doxygen documentation for setToIKSolverFrame * "Convert" -> "Transform" * Make function private. Update comments. * Make inline and private * Longer function should not be inline Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com> Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com>
tylerjw
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This is public API because the solver's getPositionIK requires input poses in the frame and the relevant transform is otherwise inaccessible. Partially reverts #2461.
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I think the documentation here on setToIKSolverFrame() must be wrong. Here's what it says:
If that were correct, how would we know what the original frame of
poseis? I think it should say:Fixes #2460