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PRBT IkFast patch from robostack (backport #2395) #2397

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merged 1 commit into from
Sep 29, 2023
Merged

PRBT IkFast patch from robostack (backport #2395) #2397

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4 changes: 2 additions & 2 deletions ...test_configs/prbt_ikfast_manipulator_plugin/src/prbt_manipulator_ikfast_moveit_plugin.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -804,12 +804,12 @@ 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];
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3 changes: 1 addition & 2 deletions ...anners/test_configs/prbt_ikfast_manipulator_plugin/src/prbt_manipulator_ikfast_solver.cpp
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Expand Up @@ -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>
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