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Add Constraints to ComputeIK #464
Add Constraints to ComputeIK #464
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Codecov ReportPatch coverage:
Additional details and impacted files@@ Coverage Diff @@
## master #464 +/- ##
==========================================
+ Coverage 58.71% 58.77% +0.06%
==========================================
Files 90 90
Lines 8459 8471 +12
==========================================
+ Hits 4966 4978 +12
Misses 3493 3493
☔ View full report in Codecov by Sentry. |
core/src/stages/compute_ik.cpp
Outdated
const kinematic_constraints::KinematicConstraintSet* constraint_set, | ||
moveit::core::RobotState* state, const moveit::core::JointModelGroup* jmg, | ||
const double* ik_solution) { | ||
state->setJointGroupPositions(jmg, ik_solution); |
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This is redundant to line 384.
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Thanks for this suggestion. I'm not fully convinced though. IMHO it doesn't make sense to define additional Cartesian constraints - all constraints are already fully defined by the Cartesian goal pose. Joint constraints though might be useful.
Rejected solutions should include the reason in the comments, distinguishing between collisions and constraints (as well as naming the failed constraints).
Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com>
Remove redundant checks
I agree, Position and Orientation constraints shouldn't be needed, but I also think they might be useful as a further check of constraints. For example, planning for a pose which is outside global position/orientation constraints. BTW, I cannot find a way to list which constraints were satisfied or not. |
Codecov ReportAttention: Patch coverage is
❗ Your organization needs to install the Codecov GitHub app to enable full functionality. Additional details and impacted files@@ Coverage Diff @@
## master #464 +/- ##
==========================================
- Coverage 58.82% 55.35% -3.47%
==========================================
Files 91 131 +40
Lines 8623 10938 +2315
Branches 0 923 +923
==========================================
+ Hits 5072 6054 +982
- Misses 3551 4838 +1287
- Partials 0 46 +46 ☔ View full report in Codecov by Sentry. |
This adds Constraints to the ComputeIK stage, similar to what is done in MoveIt's PositionIKRequest service.
This way we can filter out IK solutions before they are discarded anyway during planning.