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Documenting why setFromIK in computeCartesianPath does not use random restarts #1076

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Oct 10, 2018
Merged

Documenting why setFromIK in computeCartesianPath does not use random restarts #1076

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b58b520
documenting the decision to not use random restarts in computeCartesi…
Oct 8, 2018
24ecab3
remove extra variable
rhaschke Oct 10, 2018
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2 changes: 2 additions & 0 deletions moveit_core/robot_state/src/robot_state.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1927,6 +1927,8 @@ double RobotState::computeCartesianPath(const JointModelGroup* group, std::vecto
Eigen::Affine3d pose(start_quaternion.slerp(percentage, target_quaternion));
pose.translation() = percentage * rotated_target.translation() + (1 - percentage) * start_pose.translation();

// Explicitly use a single IK attempt only: We want a smooth trajectory.
// Random seeding (of additional attempts) would probably create IK jumps.
if (setFromIK(group, pose, link->getName(), 1, 0.0, validCallback, options))
traj.push_back(RobotStatePtr(new RobotState(*this)));
else
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