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Update stomp plugins ik code #46

Merged
merged 10 commits into from
Dec 17, 2018
Merged

Update stomp plugins ik code #46

merged 10 commits into from
Dec 17, 2018

Commits on Sep 17, 2018

  1. added missing install commands for some plugin libraries

    @jrgnicho
    jrgnicho committed Sep 17, 2018
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  2. stomp planner now uses trac ik for all ik related tasks 

    documented the IKSolver class
    @jrgnicho
    jrgnicho committed Sep 17, 2018
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  3. configures the ToolGoalPose Cost function plugin from the MoveItPlann… 

    …ingRequest, removed several parameters loaded from yaml
    @jrgnicho
    jrgnicho committed Sep 17, 2018
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  4. stomp_plugins plugins now use track ik wrapper

    @jrgnicho
    jrgnicho committed Sep 17, 2018
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  5. stomp optimization does not revert to lower cost previous trajectory … 

    …if the previous trajecotry is invalid
    @jrgnicho
    jrgnicho committed Sep 17, 2018
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  6. ToolGoalPose uses euler angles to make sure requested tolerances are … 

    …obeyed
    @jrgnicho
    jrgnicho committed Sep 17, 2018
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  7. IKSolver maps robot base coordinate system onto requested frame id

    @jrgnicho
    jrgnicho committed Sep 17, 2018
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  8. minor improvements to interrupt stomp during noise filtering step

    @jrgnicho
    jrgnicho committed Sep 17, 2018
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  9. fixed issues with invalid error messages that resulted from processin… 

    …g the request constraints
    @jrgnicho
    jrgnicho committed Sep 17, 2018
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Commits on Dec 14, 2018

  1. added more robust checks for cartesian goal

    @jrgnicho
    jrgnicho committed Dec 14, 2018
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