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World::moveObject(): only apply changes if there is any non-zero motion #1108

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merged 2 commits into from Oct 25, 2018

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commented Oct 21, 2018

This is a follow up to #957, which introduced World::moveObject().
When transform is the identity matrix, i.e. there is no movement, the object shouldn't be touched.
This follows the rule, only to create a copy of the parent planning scene, when there are actual modifications.

  • Cherry pick to Kinetic

@davetcoleman davetcoleman requested a review from mlautman Oct 23, 2018

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Why return false? Shouldn't it return true because the object is at the desired location?

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commented Oct 25, 2018

@mlautman Well, my thinking was "no motion -> return false". However, another (probably more appropriate) thinking is "object not found -> return false". Changed.

@rhaschke rhaschke merged commit 1daa1d1 into ros-planning:melodic-devel Oct 25, 2018

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rhaschke added a commit that referenced this pull request Oct 25, 2018

@rhaschke rhaschke deleted the ubi-agni:fix-moveObject branch Oct 27, 2018

ggupta9777 added a commit to ggupta9777/moveit that referenced this pull request Mar 17, 2019

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