Replace MoveIt! -> MoveIt

Author: rhaschke

core/include/moveit/task_constructor/task.h

@@ -73,7 +73,7 @@ class Task : protected WrapperBase
 public:
 	PRIVATE_CLASS(Task)
 
-	// +1 TODO: move into MoveIt! core
+	// +1 TODO: move into MoveIt core
 	static planning_pipeline::PlanningPipelinePtr
 	createPlanner(const moveit::core::RobotModelConstPtr& model, const std::string& ns = "move_group",
 	              const std::string& planning_plugin_param_name = "planning_plugin",

core/src/stages/compute_ik.cpp

@@ -88,7 +88,7 @@ using IKSolutions = std::vector<std::vector<double>>;
 namespace {
 
 // ??? TODO: provide callback methods in PlanningScene class / probably not very useful here though...
-// TODO: move into MoveIt! core, lift active_components_only_ from fcl to common interface
+// TODO: move into MoveIt core, lift active_components_only_ from fcl to common interface
 bool isTargetPoseColliding(const planning_scene::PlanningScenePtr& scene, Eigen::Isometry3d pose,
                            const robot_model::LinkModel* link,
                            collision_detection::CollisionResult* collision_result = nullptr) {
@@ -277,7 +277,7 @@ void ComputeIK::compute() {
 	if (value.empty()) {  // property undefined
 		//  determine IK link from eef/group
 		if (!(link = eef_jmg ? robot_model->getLinkModel(eef_jmg->getEndEffectorParentGroup().second) :
-		                       jmg->getOnlyOneEndEffectorTip())) {
+                             jmg->getOnlyOneEndEffectorTip())) {
 			ROS_WARN_STREAM_NAMED("ComputeIK", "Failed to derive IK target link");
 			return;
 		}