Add seed parameter to cartesian waypoint #161
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Levi-Armstrong
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@@ Coverage Diff @@
## master #161 +/- ##
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+ Coverage 66.56% 66.59% +0.02%
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Files 199 199
Lines 9478 9480 +2
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+ Hits 6309 6313 +4
+ Misses 3169 3167 -2
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marip8
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Jan 12, 2022
tesseract_command_language/include/tesseract_command_language/cartesian_waypoint.h
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tesseract_command_language/include/tesseract_command_language/cartesian_waypoint.h
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| * - providing a seed to the IK solver with modified limits using the tolerances | ||
| * - providing a state to be used in a simple planner for interpolation to avoid running IK | ||
| */ | ||
| Waypoint seed{ NullWaypoint() }; |
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Is there a particular use-case where the seed wouldn't be a joint waypoint? I'm wondering if it would be beneficial to be more restrictive here for clarity
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That is what I originally had but thought it would be nice to use the type erasure type so a user defined joint waypoint could be used.
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Allow storing a seed inside the CartesianWaypoint
Using the waypoint type erasure type to allow user defined types.