{"action":"created","issue":{"url":"https://api.github.com/repos/ros-planning/moveit_core/issues/231","labels_url":"https://api.github.com/repos/ros-planning/moveit_core/issues/231/labels{/name}","comments_url":"https://api.github.com/repos/ros-planning/moveit_core/issues/231/comments","events_url":"https://api.github.com/repos/ros-planning/moveit_core/issues/231/events","html_url":"https://github.com/ros-planning/moveit_core/pull/231","id":58978194,"number":231,"title":"KinematicsBase  changes","user":{"login":"jrgnicho","id":3279718,"avatar_url":"https://avatars.githubusercontent.com/u/3279718?v=3","gravatar_id":"","url":"https://api.github.com/users/jrgnicho","html_url":"https://github.com/jrgnicho","followers_url":"https://api.github.com/users/jrgnicho/followers","following_url":"https://api.github.com/users/jrgnicho/following{/other_user}","gists_url":"https://api.github.com/users/jrgnicho/gists{/gist_id}","starred_url":"https://api.github.com/users/jrgnicho/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/jrgnicho/subscriptions","organizations_url":"https://api.github.com/users/jrgnicho/orgs","repos_url":"https://api.github.com/users/jrgnicho/repos","events_url":"https://api.github.com/users/jrgnicho/events{/privacy}","received_events_url":"https://api.github.com/users/jrgnicho/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":27,"created_at":"2015-02-25T22:08:59Z","updated_at":"2015-07-02T03:03:11Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/ros-planning/moveit_core/pulls/231","html_url":"https://github.com/ros-planning/moveit_core/pull/231","diff_url":"https://github.com/ros-planning/moveit_core/pull/231.diff","patch_url":"https://github.com/ros-planning/moveit_core/pull/231.patch"},"body":"This PR follows from the discussion [here](https://groups.google.com/forum/#!searchin/moveit-users/Proposed$20Change$20to$20IK$20plugin$20definition/moveit-users/IGkUhU2CGu0/nHIMJ5TTOFIJ) in regards to extending KinematicsBase class in order to support finding/returning multiple IK solutions for a single tip pose. \r\nIn summary, the important changes introduced here are as follows:\r\n- Added a getMultipleIk(..) non pure virtual method which allows returning multiple joint solutions.  The default implementation here just makes a call to the getPositionIK method.  Implementations of this base class shall return several solutions when available.\r\n- Created a \"KinematicsSearch\" enumeration containing flags for choosing how to discretize the redundant joints when finding the ik solutions for a tip pose.\r\n- Created the  \"KinematicsErrors\" enumeration that provides supplementary error codes indicating the type of failure during a kinematics query.\r\n- Added the setJointDiscretization() method that sets the discretization for each redundant joint.\r\n"},"comment":{"url":"https://api.github.com/repos/ros-planning/moveit_core/issues/comments/117888874","html_url":"https://github.com/ros-planning/moveit_core/pull/231#issuecomment-117888874","issue_url":"https://api.github.com/repos/ros-planning/moveit_core/issues/231","id":117888874,"user":{"login":"sachinchitta","id":2379731,"avatar_url":"https://avatars.githubusercontent.com/u/2379731?v=3","gravatar_id":"","url":"https://api.github.com/users/sachinchitta","html_url":"https://github.com/sachinchitta","followers_url":"https://api.github.com/users/sachinchitta/followers","following_url":"https://api.github.com/users/sachinchitta/following{/other_user}","gists_url":"https://api.github.com/users/sachinchitta/gists{/gist_id}","starred_url":"https://api.github.com/users/sachinchitta/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/sachinchitta/subscriptions","organizations_url":"https://api.github.com/users/sachinchitta/orgs","repos_url":"https://api.github.com/users/sachinchitta/repos","events_url":"https://api.github.com/users/sachinchitta/events{/privacy}","received_events_url":"https://api.github.com/users/sachinchitta/received_events","type":"User","site_admin":false},"created_at":"2015-07-02T03:03:11Z","updated_at":"2015-07-02T03:03:11Z","body":"I think we should stick with the original plan and merge only into jade-devel. This merge into indigo-devel was a mistake, we need to pull it out. "}}