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Improve error message
Indicate source of error as CartesianPath.
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@ -81,7 +81,7 @@ PlannerInterface::Result CartesianPath::plan(const planning_scene::PlanningScene
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Eigen::Isometry3d ik_pose_world;
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if (!utils::getRobotTipForFrame(props.property("ik_frame"), *from, jmg, error_msg, link, ik_pose_world))
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return { false, error_msg };
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return { false, "CartesianPath: " + error_msg };
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Eigen::Isometry3d offset = from->getCurrentState().getGlobalLinkTransform(link).inverse() * ik_pose_world;
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@ -127,7 +127,7 @@ PlannerInterface::Result CartesianPath::plan(const planning_scene::PlanningScene
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props.get<double>("max_acceleration_scaling_factor"));
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if (achieved_fraction < props.get<double>("min_fraction")) {
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return { false, "min_fraction not met. Achieved: " + std::to_string(achieved_fraction) };
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return { false, "CartesianPath: min_fraction not met. Achieved: " + std::to_string(achieved_fraction) };
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}
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return { true, "achieved fraction: " + std::to_string(achieved_fraction) };
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}
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