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[Servo] Change planning frame to base frame of active joint subgroup #2515
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09eb17e
Change planning frame to base of active subgroup
sea-bass b741853
Make function to get IK base frame
sea-bass f003315
Catch tf2 exception nearer to actual code, use std::optionals
sea-bass 5612d88
Remove ee_frame and planning_frame params
sea-bass 7601fc6
PR comments
sea-bass 0c134b7
Merge remote-tracking branch 'origin/main' into fix-servo-subgroup-cmds
sea-bass b20b14e
Helper function doesn't need to be public actually
sea-bass daf5f6f
Weird clang-tidy style changes
sea-bass 85a382f
Move test fixture code from constructors to setup
sea-bass b193aa4
Merge branch 'main' into fix-servo-subgroup-cmds
sea-bass db97165
PR comments: errors and comments
sea-bass 0ad1d85
Merge branch 'main' into fix-servo-subgroup-cmds
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Can we avoid the pointer here and below and just do
const moveit::core::RobotState &robot_state
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I think the robot state which is extracted from
already returns in pointer form, so is it fine to keep as is? I don't particularly want to dereference what's already there.
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That's fine if this is only used in this context. If we ever put it somewhere more general I think we should just take the const&.
shared_ptr
is viral, it easily spreads everywhere. If this takes ashared_ptr
, it can't really can't be used unless you have ashared_ptr
already. Whereas if this takes aconst&
, you can call it directly with aRobotState
object, but also with ashared_ptr
orunique_ptr
by derefencing, so it's more usable.