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Add try/catch statements around IK/FK code #128

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adeguet1 opened this issue Jul 27, 2020 · 0 comments
Open

Add try/catch statements around IK/FK code #128

adeguet1 opened this issue Jul 27, 2020 · 0 comments
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@adeguet1
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Exceptions thrown during IK/FK (and other cisstVector computations) are caught by the cisstMultiTask catch all approach and don't impact the current state of the arm. E.g. ECM IK does a normalize self on a vector that can be 0. Maybe all Run methods should have a try/catch and set the state to "FAULT".

@adeguet1 adeguet1 self-assigned this Jul 27, 2020
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