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Remove attempts from setFromIK #43

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merged 1 commit into from
Feb 21, 2019
+2 −4
Merged

Remove attempts from setFromIK #43

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Remove attempts from setFromIK
@davetcoleman
davetcoleman committed Feb 21, 2019
commit ee3356821e330c78dbb9055ebd17b0898ae7b7cf
3 changes: 1 addition & 2 deletions src/imarker_end_effector.cpp
View file
Original file line number Diff line number Diff line change
@@ -136,7 +136,6 @@ void IMarkerEndEffector::iMarkerCallback(const visualization_msgs::InteractiveMa
void IMarkerEndEffector::solveIK(Eigen::Isometry3d& pose)
{
// Cartesian settings
const std::size_t attempts = 2;
const double timeout = 1.0 / 30.0; // 30 fps

// Optionally collision check
@@ -151,7 +150,7 @@ void IMarkerEndEffector::solveIK(Eigen::Isometry3d& pose)
}

// Attempt to set robot to new pose
if (imarker_state_->setFromIK(arm_data_.jmg_, pose, arm_data_.ee_link_->getName(), attempts, timeout, constraint_fn))
if (imarker_state_->setFromIK(arm_data_.jmg_, pose, arm_data_.ee_link_->getName(), timeout, constraint_fn))
{
imarker_state_->update();
// if (psm_->getPlanningScene()->isStateValid(*imarker_state_))
3 changes: 1 addition & 2 deletions src/imarker_robot_state.cpp
View file
Original file line number Diff line number Diff line change
@@ -281,7 +281,6 @@ bool IMarkerRobotState::setFromPoses(const EigenSTL::vector_Isometry3d poses,

// ROS_DEBUG_STREAM_NAMED(name_, "First pose should be for joint model group: " << arm_datas_[0].ee_link_->getName());

const std::size_t attempts = 10;
const double timeout = 1.0 / 30.0; // 30 fps

// Optionally collision check
@@ -303,7 +302,7 @@ bool IMarkerRobotState::setFromPoses(const EigenSTL::vector_Isometry3d poses,
std::size_t outer_attempts = 20;
for (std::size_t i = 0; i < outer_attempts; ++i)
{
if (!imarker_state_->setFromIK(group, poses, tips, attempts, timeout, constraint_fn))
if (!imarker_state_->setFromIK(group, poses, tips, timeout, constraint_fn))
{
ROS_DEBUG_STREAM_NAMED(name_, "Failed to find dual arm pose, trying again");