Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Goal State IK Solve Bug Fix #21

Merged
merged 1 commit into from
May 5, 2020
Merged

Goal State IK Solve Bug Fix #21

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
5 changes: 2 additions & 3 deletions stomp_moveit/src/stomp_planner.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -409,9 +409,8 @@ bool StompPlanner::getSeedParameters(Eigen::MatrixXd& parameters) const
}

Eigen::VectorXd solution;
Eigen::VectorXd seed = start;
ik_solver_->setKinematicState(state);
if(ik_solver_->solve(seed,tool_constraints.get(),solution))
if(ik_solver_->solve(goal,tool_constraints.get(),solution))
{
goal = solution;
found_goal = true;
Expand Down Expand Up @@ -722,7 +721,7 @@ bool StompPlanner::canServiceRequest(const moveit_msgs::MotionPlanRequest &req)
// check that we have joint or cartesian constraints at the goal
const auto& gc = req.goal_constraints[0];
if ((gc.joint_constraints.size() == 0) &&
!utils::kinematics::isCartesianConstraints(gc))
!utils::kinematics::isCartesianConstraints(gc))
{
ROS_ERROR("STOMP couldn't find either a joint or cartesian goal.");
return false;
Expand Down