Port fixes for handling orientation constraints #3052
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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...
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
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sjahr
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sea-bass
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...interface/include/moveit/ompl_interface/parameterization/work_space/pose_model_state_space.h
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moveit_planners/ompl/ompl_interface/src/parameterization/work_space/pose_model_state_space.cpp
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moveit_planners/ompl/ompl_interface/src/parameterization/work_space/pose_model_state_space.cpp
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moveit_planners/ompl/ompl_interface/src/parameterization/work_space/pose_model_state_space.cpp
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This is a port of two fixes in MoveIt1 (see PR descriptions there for details):
Partially reverts Fix constrained-based planning / PoseModelStateSpace #2910.
Interprets tolerance vector w.r.t. given
frame_id.