PRBT IkFast patch from robostack (#2395)

moveit · Sep 29, 2023 · bd45079 · bd45079
1 parent 0236685
commit bd45079
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diff --git a/...test_configs/prbt_ikfast_manipulator_plugin/src/prbt_manipulator_ikfast_moveit_plugin.cpp b/...test_configs/prbt_ikfast_manipulator_plugin/src/prbt_manipulator_ikfast_moveit_plugin.cpp
@@ -805,12 +805,12 @@ bool IKFastKinematicsPlugin::getPositionFK(const std::vector<std::string>& link_
     return false;
   }
 
-  IkReal angles[num_joints_];
+  std::vector<IkReal> angles(num_joints_, 0);
   for (unsigned char i = 0; i < num_joints_; i++)
     angles[i] = joint_angles[i];
 
   // IKFast56/61
-  ComputeFk(angles, eetrans, eerot);
+  ComputeFk(angles.data(), eetrans, eerot);
 
   for (int i = 0; i < 3; ++i)
     p_out.p.data[i] = eetrans[i];

diff --git a/...anners/test_configs/prbt_ikfast_manipulator_plugin/src/prbt_manipulator_ikfast_solver.cpp b/...anners/test_configs/prbt_ikfast_manipulator_plugin/src/prbt_manipulator_ikfast_solver.cpp
@@ -26,8 +26,7 @@
 using namespace ikfast;
 
 // check if the included ikfast version matches what this file was compiled with
-#define IKFAST_COMPILE_ASSERT(x) extern int __dummy[static_cast<int>(x)]
-IKFAST_COMPILE_ASSERT(IKFAST_VERSION==0x1000004a);
+static_assert(IKFAST_VERSION==61); // version found in ikfast.h
 
 #include <cmath>
 #include <vector>