mirror of
https://github.com/moveit/moveit_task_constructor.git
synced 2025-11-04 14:49:57 +08:00
Remove TODO
This commit is contained in:
parent
0d7b86e218
commit
5a2607e358
@ -139,8 +139,6 @@ MoveItErrorCode JointInterpolationPlanner::plan(const planning_scene::PlanningSc
|
|||||||
} };
|
} };
|
||||||
|
|
||||||
if (!to->getCurrentStateNonConst().setFromIK(jmg, target * offset.inverse(), link.getName(), timeout, is_valid)) {
|
if (!to->getCurrentStateNonConst().setFromIK(jmg, target * offset.inverse(), link.getName(), timeout, is_valid)) {
|
||||||
// TODO(v4hn): planners need a way to add feedback to failing plans
|
|
||||||
// in case of an invalid solution feedback should include unwanted collisions or violated constraints
|
|
||||||
RCLCPP_WARN(LOGGER, "IK failed for pose target");
|
RCLCPP_WARN(LOGGER, "IK failed for pose target");
|
||||||
return MoveItErrorCode(MoveItErrorCodes::FAILURE, "IK failed for pose target.");
|
return MoveItErrorCode(MoveItErrorCodes::FAILURE, "IK failed for pose target.");
|
||||||
}
|
}
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user