On Tue, Jan 8, 2013 at 1:44 AM, marioprats <notifications@github.com> wrote:

> In kinematic_state/include/moveit/kinematic_state/joint_state_group.h:
>
> > @@ -286,6 +296,14 @@ class JointStateGroup
> >        @param constraint A state validity constraint to be required for IK solutions */
> >    bool setFromIK(const std::vector<Eigen::Affine3d> &poses, const std::vector<std::string> &tips, const std::vector<std::vector<double> > &consistency_limits, unsigned int attempts = 0, double timeout = 0.0, const StateValidityCallbackFn &constraint = StateValidityCallbackFn());
> >
> > +  /** \brief Set the joint values from a cartesian velocity applied during a time dt
> > +   * @param twist a cartesian velocity on the 'tip' frame
> > +   * @param tip the frame for which the twist is given
> > +   * @param dt a time interval (seconds)
> > +   * @param st a secondary task computation function
> > +   */
> > +  bool setFromDiffIK(const Eigen::VectorXd &twist, const std::string &tip, const double &dt, const SecondaryTaskCallbackFn &st = SecondaryTaskCallbackFn());
>
> What should it do? satisfy one goal pose for each tip?
>
Yes

>  —
> Reply to this email directly or view it on GitHub<https://github.com/ros-planning/moveit_core/pull/16/files#r2571593>.
>
>