private setToIKSolverFrame() breaks workflow

[bsaund]

#2461 makes setToIKSolverFrame() private. A public setToIKSolverFrame() is necessary (afaik) to effectively use other parts of the moveit API.
For example, my code uses the kinematics solver to get multiple IK solutions for a robot arm with redundant DOFs.

const kinematics::KinematicsBaseConstPtr &solver = jmg->getSolverInstance();
auto kinematic_state = std::make_shared<robot_state::RobotState>(model_);

kinematic_state->setToIKSolverFrame(solverTrobot, solver);

Eigen::Affine3d pose_in_solver_frame = solverTrobot * ee_target_pose_in_robot_frame;
... (conversion to target_poses) ...
solver->getPositionIK(target_poses, ...)

Link to my code
Moveit docs

It is necessary to transform the target pose(s) in the robot frame into the solver frame. With setToIKSolverFrame now private, I have to duplicate the setToIKSolverFrame() in my own code.

@rhaschke @AndyZe (were on the PR mentioned above)

Some possible resolutions are:

1. Make setToIKSolverFrame() public again
2. Duplicate setToIKSolverFrame() logic in my own code
3. Find a different pathway to get multiple IK solutions from a pose in robot (not solver) frame.

I appreciate any time and comments w.r.t. this issue, thanks!

[welcome]

Thanks for reporting an issue. Because we're a volunteer community, providing a pull request with suggested changes is always welcomed.

[rhaschke]

Sorry. Obviously, we didn't expect this function to be used externally. @AndyZe can you make those functions public again, please?

[v4hn]

Fixed by #2580