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consider the position scale when checking for approximate solutions #50

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7 changes: 6 additions & 1 deletion src/pick_ik_plugin.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -225,14 +225,19 @@ class PickIKPlugin : public kinematics::KinematicsBase {
// fall back to the initial state.
if (options.return_approximate_solution) {
// Check pose thresholds
std::optional<double> approximate_solution_position_threshold = std::nullopt;
if (test_position) {
approximate_solution_position_threshold =
params.approximate_solution_position_threshold;
}
std::optional<double> approximate_solution_orientation_threshold = std::nullopt;
if (test_rotation) {
approximate_solution_orientation_threshold =
params.approximate_solution_orientation_threshold;
}
auto const approx_frame_tests =
make_frame_tests(goal_frames,
params.approximate_solution_position_threshold,
approximate_solution_position_threshold,
approximate_solution_orientation_threshold);
auto const tip_frames = fk_fn(solution);
bool approx_solution_valid = true;
Expand Down