Ompl constrained orientation rebase#12

Open

gautz wants to merge 10 commits intoJeroenDM:ompl-constrained-planning-v5-rebasefrom

gautz:ompl-constrained-orientation-rebase

Commits on Jun 25, 2021

add parameterization type for orientation constraints and configure it from input message

JeroenDM
authored and
gautz
committed
fiddle around with a test case for the new parameterization for orientation constriants

JeroenDM
authored and
gautz
committed
orientation constraints: change class enum to int to correspond with moveit_msgs interface

JeroenDM
authored and
gautz
committed
improve test for orientation constraints parameterization

JeroenDM
authored and
gautz
committed
add orientation constraints to ompl interface

JeroenDM
authored and
gautz
committed
also use constrained planner for a single orientation constraint

JeroenDM
authored and
gautz
committed
correct orientation constraints parsing
gautz
committed
debug merge
gautz
committed

Commits on Jul 2, 2021

Removed code that sets default values to robot state and added unittests

pradeepr-roboticist
authored and
gautz
committed
pre-commit
gautz
committed