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MoveRelative: gracefully handle identical min/max distance #593

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merged 1 commit into from
Jul 16, 2024

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rhaschke
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When min_distance == max_distance > 0.0, the minimal distance might be missed due to numerical errors.
To avoid this, deactivate minimal distance check and run the full distance as given by max_distance.
Fixes #586. @captain-yoshi, please review.

When min_distance == max_distance > 0.0, the minimal distance
might be missed due to numerical errors.
To avoid this, deactivate minimal distance check and
run the full distance as given by max_distance.
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@captain-yoshi captain-yoshi left a comment

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Works on my setup. Thanks :)

@rhaschke rhaschke merged commit 2e9a223 into moveit:master Jul 16, 2024
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@rhaschke rhaschke deleted the fix-min-max-distance branch July 16, 2024 06:25
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Min distance not reached when setting the same min/max values in the MoveRelative stage
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