ros-planning/moveit_core — pull request #188 by arjungm (2014-07-31 05:49:24+00:00)
Title: Constraint sampler inverse kinematics fix

I added an extra argument to ConstrainedSampler::project that specifies whether or not to use the passed in state as a seed, which defaults to true.

I added this argument to all of the derived classes too.

This will let ompl_interface classes that use the ConstrainedSamplers to force randomized seeds when it detects failures at sampling goals.