new filtering options for ik solvers

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new filtering options for ik solvers

Rosen Diankov
Administrator
hi all,

In the past the IkSolver::Solve functions just took a bool value for
checking environment collisions, now it is possible to control how the
ik solutions get filtered through the new IkFilterOptions enum
(r1691):

http://openrave.programmingvision.com/ordocs/en/html/namespaceOpenRAVE.html#a89401ff7c557d6d1ede96b550fb22bdc

This allows users to disable self-collisions, joint limits checks, etc

Also, it is now possible to set a custom filter callback function that
is called for all found ik solutions using IkSolver::SetCustomFilter:

http://openrave.programmingvision.com/ordocs/en/html/classOpenRAVE_1_1IkSolverBase.html#aba8bec20c6c1ad32bfc92f3cbb8bbe76

Hopefully this will allow much easier implementation of dual arm IK or
closed chains.

rosen,

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