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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

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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.

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I like the use of kinematics base here

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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 ros-planning:melodic-devel Jan 4, 2019

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@rhaschke rhaschke deleted the ubi-agni:cartesian-path-consistency-limits branch Jan 4, 2019

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