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GGP: allow for negative deltas
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@ -74,7 +74,7 @@ moveit::task_constructor::subtasks::GenerateGraspPose::setAngleDelta(double delt
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bool
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moveit::task_constructor::subtasks::GenerateGraspPose::canCompute(){
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return current_angle_ > 0;
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return current_angle_ < 2*M_PI && current_angle_ > -2*M_PI;
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}
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namespace {
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@ -143,7 +143,7 @@ moveit::task_constructor::subtasks::GenerateGraspPose::compute(){
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tf::poseEigenToMsg(object_pose_eigen, object_pose);
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while(current_angle_ < 2*M_PI){
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while( canCompute() ){
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if( remaining_time_ <= 0.0 ){
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std::cout << "computed angle " << current_angle_
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<< " with " << previous_solutions_.size()
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