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Port fixes for handling orientation constraints #3052

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Port fixes for handling orientation constraints #3052

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rhaschke
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This is a port of two fixes in MoveIt1 (see PR descriptions there for details):

@rhaschke
PoseModelStateSpace: Reintroduce Cartesian interpolation
5cc65c2 
The problem with potential jumps due to Cartesian interpolation in principle remains, which is a dilemma of the current design:

- We do need Cartesian interpolation to reduce the risk of state rejection due to a failing path constraint, which currently cannot be checked during interpolation.
- Ideally, we would do joint interpolation and only resort to Cartesian interpolation if the path constraint is violated, i.e. follow a similar approach as in #3618. However, this would require access to the path constraint...
@rhaschke
Fix orientation constraints
7f0fa73 
The tolerance of orientation constraints needs to be interpreted w.r.t. the given frame_id of the constraint instead of the target frame. Not doing so, a large tolerance is interpreted about the wrong axis and resolving constraint frames fails.
Unfortunately, the proposed approach only works for the ROTATION_VECTOR representation.
sjahr
sjahr reviewed Nov 1, 2024
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Thanks for porting this over! Just one comment, then I think we can merge this

moveit_core/kinematic_constraints/src/kinematic_constraint.cpp Outdated Show resolved Hide resolved
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@sjahr sjahr sjahr approved these changes

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@rhaschke @sjahr