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allow multiple eefs per planning group #1347

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merged 2 commits into from Feb 18, 2019

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rhaschke commented Feb 13, 2019

Due to an early escape from the loop (after the first found eef for a group), MoveIt!
wasn't aware of other eef names (with possibly a different parent_link) associated to a group.

allow multiple eefs per planning group
Due to an early escape from the loop (after the first found eef for a group), MoveIt!
wasn't aware of other eef names (with possibly a different parent_link) associated to a group.
* \brief Get a vector of end effector tips included in a particular joint model group as defined by the SRDF end
* effector semantic
* \brief Get the unique set of end effector tips included in a particular joint model group
* as defined by the SRDF end effector semantic

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@jonbinney

jonbinney Feb 14, 2019

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Wording suggestion - since "SRDF" already has "semantic" in it, you can remove the "effector semantic" part at the end of this sentence. Alternatively you could say "by SRDF end_effector elements"

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@rhaschke

rhaschke Feb 15, 2019

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Thanks for this suggestion. Please consider to use github's suggestion mechanism in future. The facilitates integrating these changes.

* \brief Get a vector of end effector tips included in a particular joint model group as defined by the SRDF end
* effector semantic
* \brief Get the unique set of end effector tips included in a particular joint model group
* as defined by the SRDF end effector semantic

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@jonbinney

jonbinney Feb 14, 2019

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Same wording suggestion as above.

Show resolved Hide resolved moveit_core/robot_model/src/joint_model_group.cpp
Show resolved Hide resolved moveit_core/robot_model/src/joint_model_group.cpp
Show resolved Hide resolved moveit_core/robot_model/src/joint_model_group.cpp Outdated
JointModelGroup::getEndEffectorTips: only consider unique tips
... changing the API from std::vector to std::set

@rhaschke rhaschke force-pushed the allow-multiple-eefs branch from 886d54f to 324c5d7 Feb 15, 2019

@rhaschke rhaschke merged commit 324c5d7 into melodic-devel Feb 18, 2019

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@rhaschke rhaschke deleted the allow-multiple-eefs branch Feb 20, 2019

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