Remove #attempts from setFromIK (#43)

Author: davetcoleman

src/imarker_end_effector.cpp

@@ -136,7 +136,6 @@ void IMarkerEndEffector::iMarkerCallback(const visualization_msgs::InteractiveMa
 void IMarkerEndEffector::solveIK(Eigen::Isometry3d& pose)
 {
   // Cartesian settings
-  const std::size_t attempts = 2;
   const double timeout = 1.0 / 30.0;  // 30 fps
 
   // Optionally collision check
@@ -151,7 +150,7 @@ void IMarkerEndEffector::solveIK(Eigen::Isometry3d& pose)
   }
 
   // Attempt to set robot to new pose
-  if (imarker_state_->setFromIK(arm_data_.jmg_, pose, arm_data_.ee_link_->getName(), attempts, timeout, constraint_fn))
+  if (imarker_state_->setFromIK(arm_data_.jmg_, pose, arm_data_.ee_link_->getName(), timeout, constraint_fn))
   {
     imarker_state_->update();
     // if (psm_->getPlanningScene()->isStateValid(*imarker_state_))

src/imarker_robot_state.cpp

@@ -281,7 +281,6 @@ bool IMarkerRobotState::setFromPoses(const EigenSTL::vector_Isometry3d poses,
 
   // ROS_DEBUG_STREAM_NAMED(name_, "First pose should be for joint model group: " << arm_datas_[0].ee_link_->getName());
 
-  const std::size_t attempts = 10;
   const double timeout = 1.0 / 30.0;  // 30 fps
 
   // Optionally collision check
@@ -303,7 +302,7 @@ bool IMarkerRobotState::setFromPoses(const EigenSTL::vector_Isometry3d poses,
   std::size_t outer_attempts = 20;
   for (std::size_t i = 0; i < outer_attempts; ++i)
   {
-    if (!imarker_state_->setFromIK(group, poses, tips, attempts, timeout, constraint_fn))
+    if (!imarker_state_->setFromIK(group, poses, tips, timeout, constraint_fn))
     {
       ROS_DEBUG_STREAM_NAMED(name_, "Failed to find dual arm pose, trying again");