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Fixes merge conflicts (humble backport 3077) #3087

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merged 2 commits into from
Nov 15, 2024
Merged

Fixes merge conflicts (humble backport 3077) #3087

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01c1cc1
Fixes merge conflicts
TSNoble Nov 13, 2024
a75d67e
Hopefully fixes pilz tests
rr-tom-noble Nov 15, 2024
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21 changes: 2 additions & 19 deletions moveit_core/robot_state/src/robot_state.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1671,32 +1671,15 @@ bool RobotState::setFromIK(const JointModelGroup* jmg, const EigenSTL::vector_Is
auto* pose_parent = getRigidlyConnectedParentLinkModel(pose_frame);
if (!pose_parent)
{
RCLCPP_ERROR_STREAM(getLogger(), "The following Pose Frame does not exist: " << pose_frame);
RCLCPP_ERROR_STREAM(LOGGER, "The following Pose Frame does not exist: " << pose_frame);
return false;
}
Eigen::Isometry3d pose_parent_to_frame = getFrameTransform(pose_frame);
auto* tip_parent = getRigidlyConnectedParentLinkModel(solver_tip_frame);
if (!tip_parent)
{
<<<<<<< HEAD
const moveit::core::LinkModel* link_model = getLinkModel(pose_frame);
if (!link_model)
{
RCLCPP_ERROR(LOGGER, "The following Pose Frame does not exist: %s", pose_frame.c_str());
return false;
}
const moveit::core::LinkTransformMap& fixed_links = link_model->getAssociatedFixedTransforms();
for (const std::pair<const LinkModel* const, Eigen::Isometry3d>& fixed_link : fixed_links)
if (Transforms::sameFrame(fixed_link.first->getName(), solver_tip_frame))
{
pose_frame = solver_tip_frame;
pose = pose * fixed_link.second;
break;
}
=======
RCLCPP_ERROR_STREAM(getLogger(), "The following Solver Tip Frame does not exist: " << solver_tip_frame);
RCLCPP_ERROR_STREAM(LOGGER, "The following Solver Tip Frame does not exist: " << solver_tip_frame);
return false;
>>>>>>> ab34495d2 (Allow RobotState::setFromIK to work with subframes (#3077))
}
Eigen::Isometry3d tip_parent_to_tip = getFrameTransform(solver_tip_frame);
if (pose_parent == tip_parent)
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9 changes: 5 additions & 4 deletions ...ners/pilz_industrial_motion_planner/test/unit_tests/src/unittest_trajectory_functions.cpp
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Expand Up @@ -406,9 +406,10 @@ TEST_F(TrajectoryFunctionsTestFlangeAndGripper, testIKRobotStateWithIdentityColl
const moveit::core::LinkModel* tip_link = robot_model_->getLinkModel(tcp_link_);
Eigen::Isometry3d tip_pose_in_base = state.getFrameTransform(tcp_link_);

// Attach an object with no subframes, and no transform
// Attach an object with an ignored subframe, and no transform
Eigen::Isometry3d object_pose_in_tip = Eigen::Isometry3d::Identity();
attachToLink(state, tip_link, "object", object_pose_in_tip, { {} });
moveit::core::FixedTransformsMap subframes({ { "ignored", Eigen::Isometry3d::Identity() } });
attachToLink(state, tip_link, "object", object_pose_in_tip, subframes);

// The RobotState should be able to use an object pose to set the joints
Eigen::Isometry3d object_pose_in_base = tip_pose_in_base * object_pose_in_tip;
Expand All @@ -435,8 +436,8 @@ TEST_F(TrajectoryFunctionsTestFlangeAndGripper, testIKRobotStateWithTransformedC
Eigen::Isometry3d object_pose_in_tip;
object_pose_in_tip = Eigen::Translation3d(1, 2, 3);
object_pose_in_tip *= Eigen::AngleAxis(M_PI_2, Eigen::Vector3d::UnitX());

attachToLink(state, tip_link, "object", object_pose_in_tip, { {} });
moveit::core::FixedTransformsMap subframes({ { "ignored", Eigen::Isometry3d::Identity() } });
attachToLink(state, tip_link, "object", object_pose_in_tip, subframes);

// The RobotState should be able to use an object pose to set the joints
Eigen::Isometry3d object_pose_in_base = tip_pose_in_base * object_pose_in_tip;
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