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Add approximate solution cost threshold parameter #51

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SammyRamone
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This PR adds a cost threshold parameter for the approximate solution.
The motivation for this is, that it gives the same threshold options for the approximate goal as for the exact goal. Thereby, the user can decide in more detail which approximate solution they want to accept.
I use it, for example, so that I can stop optimizing if a goal reaches a certain threshold (the cost_threshold) but if I did not manage to find this, I will still accept a goal which has a higher cost value as long as it is not too high (below the approximate_solution_cost_threshold).

I also changed the code a bit to use gain the make_is_solution_test_fn(). Before, there was a bit of code duplication which would have gotten worse with the addition of my parameter.

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@sea-bass sea-bass left a comment

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Looks great!

src/pick_ik_plugin.cpp Show resolved Hide resolved
src/pick_ik_parameters.yaml Outdated Show resolved Hide resolved
Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>
@sea-bass sea-bass merged commit c9e050a into PickNikRobotics:main Jun 25, 2023
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