Clean up kinematic_constraints/utils #1875
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AndyZe
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Jan 19, 2023
moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/utils.h
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Codecov ReportBase: 50.39% // Head: 50.36% // Decreases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## main #1875 +/- ##
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- Coverage 50.39% 50.36% -0.02%
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Files 374 374
Lines 31363 31391 +28
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+ Hits 15803 15808 +5
- Misses 15560 15583 +23
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henningkayser
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Jan 24, 2023
| const geometry_msgs::msg::PoseStamped& pose) | ||
| { | ||
| // Convert message types so the existing functions can be used | ||
| geometry_msgs::msg::PointStamped point; |
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@AndyZe I don't know why I missed this, but I think we have to pass the stamp information with this as well, since that one is defining the reference frame
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Description
The first commit is minor cleanup.
The second commit adds a new function,
updateConstraints(). The idea is, it's annoying and inefficient to construct a new Constraint object every time. This allows the user to update only the important information. If you like the idea, I'll add the other versions, like:bool updateConstraints(moveit_msgs::msg::Constraints& constraints, const geometry_msgs::msg::PoseStamped& pose);and so on.