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update link transforms in UnionConstraintSampler::project too #384
Scott Paulin found that the UnionConstraintSampler should explicitly
Back then, we missed that the sampler also provides a
This should be picked to j/k.
I triggered this today by adding a JointConstraint and an OrientationConstraint
Update: The JointConstraint alone is enough to trigger this, according to a mail on the mailing list.
Here's a stack-trace to reveal the calling code:
referenced this pull request
Dec 21, 2016
On Fri, Dec 23, 2016 at 06:08:56PM -0800, Scott Paulin wrote: Looks good! I'm surprised that this can be triggered with only a joint constraint, since the joint constraint sampler does not use the robot state's link transforms.
Well, PathConstraints also have to be true at the goal, so the *GoalConstraintSampler* has to combine the JointConstraint and the IKConstraints. I suppose this triggers the error.