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computeCartesianPath: limit joint-space jumps with IK consistency limits #1293

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merged 1 commit into from
Jan 4, 2019
Merged

computeCartesianPath: limit joint-space jumps with IK consistency limits #1293

merged 1 commit into from
Jan 4, 2019

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rhaschke
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@rhaschke rhaschke commented Jan 3, 2019

To improve quality of Cartesian paths, use joint-space jump limits (if provided) as consistency limits for the IK solver.

@rhaschke rhaschke requested a review from mlautman January 3, 2019 05:53
@rhaschke rhaschke mentioned this pull request Jan 3, 2019
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mlautman approved these changes Jan 3, 2019
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I like the use of kinematics base here

@rhaschke
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rhaschke commented Jan 3, 2019

I like the use of kinematics base here

What do you mean? setFromIK is a method of RobotState.

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mlautman commented Jan 3, 2019

The consistency_limit gets passed through to solver->searchPositionIK which then enforces the limit no?

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rhaschke commented Jan 3, 2019

Yes, that's true.

@rhaschke rhaschke merged commit d4cf381 into moveit:melodic-devel Jan 4, 2019
@rhaschke rhaschke deleted the cartesian-path-consistency-limits branch January 4, 2019 10:46
@gavanderhoorn gavanderhoorn mentioned this pull request Oct 18, 2019
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@rhaschke @mlautman