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Enable Octomap diff - #602
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Closed in favor of updated version in #636. |
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* IKConstraintSampler: Fixed transform from end-effector to ik chain tip. Previously the transform was done before sampling poses, which only works for pure orientation constraints. Now transforms after each sample. Removed no longer needed methods swapLinkModel. * Specify auto scale
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This enables the changes in moveit/moveit_core#255 by adding a ROS param (/move_group/octomap_diff) to enable change detection on the Octomap. This pull request should build without moveit/moveit_core#255 but will not do anything until it is merged.