ros-planning/moveit_core — pull request #174 by hersh (2014-05-27 23:37:14+00:00)
Title: Fixed bug in RevoluteJointModel::distance() giving large negative numbers.

RevoluteJointModel::distance() was giving large negative values for a continuous joint, and upon investigation it turns out that there is nothing to enforce the continuous joint values to be between -pi and +pi or 0 and 2*pi. The code in distance() was correct if the values *were* constrained, so I just added an extra "fmod()" call.