Swiz/cartesian interpolation fix #1
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…ting the goal so it does not block the server from accepting a cancel request. While client is waiting for the result future, repeatedly check if preempting was requested and send a cancel request if it was
const ref argument
The twist motion performs an angular rotation about the given axis _and_ the origin of ik_frame as well as a linear translation. Both transforms are expressed w.r.t. the model frame and thus require left-multiplication to ik_frame's current pose.
Fix handling of ik_frame in Cartesian path planning The ik_frame should move in a straight-line Cartesian path. However, so far the link frame was following a Cartesian path.
Fix getRobotTipForFrame() When passing the root frame, getRigidlyConnectedParentLinkModel() returns a nullptr for robot_link, causing a segfault. Actually, we don't need to use that method at all. We just need to find the robot_link of an associated body.
Rename variables in visualizePlan() - link_pose -> start_pose - pos_link -> pos_start
This reverts commit dfb5769.
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