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Fixed GreedyIK planner in MoveUntilTouch #174

Merged
merged 5 commits into from
Sep 13, 2015
Merged

Fixed GreedyIK planner in MoveUntilTouch #174

merged 5 commits into from
Sep 13, 2015

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mkoval
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@mkoval mkoval commented Sep 12, 2015

This pull request fixes #170. The problem was that MoveUntilTouch defaulted to passing infinity for max_distance. This is supported by VectorFieldPlanner and (surprisingly) CBiRRT, but not GreedyIK.

I fixed this by:

  • Check for infinite max_distance in the planner and throw an error.
  • Modified MoveUntilTouch to pass a finite max_distance.

@mkoval mkoval mentioned this pull request Sep 12, 2015
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@mkoval mkoval added the bug label Sep 13, 2015
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mkoval commented Sep 13, 2015

I modified the pull request to issue a DeprecationWarning if max_distance is not specified. See @siddhss5's comments in #170 for an explanation of this change.

mkoval added a commit that referenced this pull request Sep 13, 2015
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Merge pull request #174 from personalrobotics/bugfix/GreedyIK
40ac3d5 
Fixed GreedyIK planner in MoveUntilTouch.
@mkoval mkoval merged commit 40ac3d5 into master Sep 13, 2015
@mkoval mkoval deleted the bugfix/GreedyIK branch September 13, 2015 18:48
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Successfully merging this pull request may close these issues.

GreedyIKPlanner does not support an infinite max_distance
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