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update link transforms in UnionConstraintSampler::project too #384

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merged 1 commit into from Dec 24, 2016

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v4hn commented Dec 20, 2016

This extends #186 (0119d58).

Scott Paulin found that the UnionConstraintSampler should explicitly
update the LinkTransforms of the returned samples, because one of the
other samplers could require them to be valid.

Back then, we missed that the sampler also provides a project method
that has the same limitation. So I update the transforms there too.

This should be picked to j/k.

I triggered this today by adding a JointConstraint and an OrientationConstraint
as PathConstraints to a planning request.

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:

    quat=..., ks=..., max_attempts=4)
    at /home/v4hn/ros/indigo/moveit/src/moveit/moveit_core/constraint_samplers/src/default_constraint_samplers.cpp:416
    reference_state=..., max_attempts=4, project=true)
    at /home/v4hn/ros/indigo/moveit/src/moveit/moveit_core/constraint_samplers/src/default_constraint_samplers.cpp:562
    max_attempts=4)
    at /home/v4hn/ros/indigo/moveit/src/moveit/moveit_core/constraint_samplers/src/default_constraint_samplers.cpp:586
    max_attempts=4)
    at /home/v4hn/ros/indigo/moveit/src/moveit/moveit_core/constraint_samplers/src/union_constraint_sampler.cpp:159
    gls=0x7fffac051690, new_goal=0x7fffa4005450)
update link transforms in UnionConstraintSampler::project
This extends #186 (0119d58).

Scott Paulin found that the UnionConstraintSampler should explicitly
update the LinkTransforms of the returned samples, because one of the
other samplers could require them to be valid.

Back then, we missed that the sampler also provides a `project` method
that has the same limitation. So I update the transforms there too.

@v4hn v4hn referenced this pull request Dec 21, 2016

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Initial Indigo release from ros-planning/moveit repo #100

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@scottpaulin do you have a moment to verify this patch?

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v4hn commented Dec 23, 2016

@scottpaulin do you have a moment to verify this patch?

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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.

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scottpaulin commented Dec 24, 2016

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.

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v4hn commented Dec 24, 2016

@davetcoleman davetcoleman merged commit f4a8db4 into ros-planning:indigo-devel Dec 24, 2016

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Thanks!

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davetcoleman commented Dec 24, 2016

Thanks!

davetcoleman added a commit that referenced this pull request Dec 24, 2016

update link transforms in UnionConstraintSampler::project (#384)
This extends #186 (0119d58).

Scott Paulin found that the UnionConstraintSampler should explicitly
update the LinkTransforms of the returned samples, because one of the
other samplers could require them to be valid.

Back then, we missed that the sampler also provides a `project` method
that has the same limitation. So I update the transforms there too.

davetcoleman added a commit that referenced this pull request Dec 24, 2016

update link transforms in UnionConstraintSampler::project (#384)
This extends #186 (0119d58).

Scott Paulin found that the UnionConstraintSampler should explicitly
update the LinkTransforms of the returned samples, because one of the
other samplers could require them to be valid.

Back then, we missed that the sampler also provides a `project` method
that has the same limitation. So I update the transforms there too.

davetcoleman added a commit to davetcoleman/moveit that referenced this pull request Jan 2, 2017

update link transforms in UnionConstraintSampler::project (#384)
This extends #186 (0119d58).

Scott Paulin found that the UnionConstraintSampler should explicitly
update the LinkTransforms of the returned samples, because one of the
other samplers could require them to be valid.

Back then, we missed that the sampler also provides a `project` method
that has the same limitation. So I update the transforms there too.
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