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Fix using IKFrame with MoveRelative in ROS2 #357

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Fix using IKFrame with MoveRelative in ROS2 #357

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8 changes: 4 additions & 4 deletions core/src/stages/move_relative.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -249,9 +249,9 @@ bool MoveRelative::compute(const InterfaceState& state, planning_scene::Planning
// compute absolute transform for link
linear = frame_pose.linear() * linear;
angular = frame_pose.linear() * angular;
target_eigen = link_pose;
target_eigen = ik_pose_world;
target_eigen.linear() =
target_eigen.linear() * Eigen::AngleAxisd(angular_norm, link_pose.linear().transpose() * angular);
target_eigen.linear() * Eigen::AngleAxisd(angular_norm, ik_pose_world.linear().transpose() * angular);
target_eigen.translation() += linear;
goto COMPUTE;
} catch (const boost::bad_any_cast&) { /* continue with Vector */
Expand All @@ -276,7 +276,7 @@ bool MoveRelative::compute(const InterfaceState& state, planning_scene::Planning

// compute absolute transform for link
linear = frame_pose.linear() * linear;
target_eigen = link_pose;
target_eigen = ik_pose_world;
target_eigen.translation() += linear;
} catch (const boost::bad_any_cast&) {
solution.markAsFailure(std::string("invalid direction type: ") + direction.type().name());
Expand All @@ -285,7 +285,7 @@ bool MoveRelative::compute(const InterfaceState& state, planning_scene::Planning

COMPUTE:
// transform target pose such that ik frame will reach there if link does
target_eigen = target_eigen * scene->getCurrentState().getGlobalLinkTransform(link).inverse() * ik_pose_world;
target_eigen = target_eigen * ik_pose_world.inverse() * scene->getCurrentState().getGlobalLinkTransform(link);

success = planner_->plan(state.scene(), *link, target_eigen, jmg, timeout, robot_trajectory, path_constraints);

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