ros-planning/moveit_core — pull request #83 by voop (2013-08-02 11:03:35+00:00)
Title: Assert replaced by return in IKTconstraints check.

This make moveit more stable for inaccurate IK solvers. Since IKT is computed for randomly chosen points, inaccurate IKT can return dissatisfied result for points near the border of constraints region.