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ignore failures for further processing
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@ -202,6 +202,9 @@ void ComputeIK::init(const moveit::core::RobotModelConstPtr& robot_model)
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void ComputeIK::onNewSolution(const SolutionBase &s)
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void ComputeIK::onNewSolution(const SolutionBase &s)
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{
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{
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if (s.isFailure())
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return;
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assert(s.start() && s.end());
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assert(s.start() && s.end());
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assert(s.start()->scene() == s.end()->scene()); // wrapped child should be a generator
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assert(s.start()->scene() == s.end()->scene()); // wrapped child should be a generator
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planning_scene::PlanningScenePtr sandbox_scene = s.start()->scene()->diff();
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planning_scene::PlanningScenePtr sandbox_scene = s.start()->scene()->diff();
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