moesenle/cram_pr2 — pull request #18 by fairlight1337 (2012-10-15 13:06:03+00:00)
Title: Corrected euclidean distance measure, constraint awareness and line length/indentations

The euclidean distance measure is now corrected, working properly. Also, the constraint awareness is now fully prepared for objects to be added. Cleaned up the code, fixed indentations, line lengths and typos. Added a few doc strings and made the "ik->trajectory" function type safe. Fixed a prolog pattern where the gripper holding an object was not identified correctly.