[OMPL] also check constraints in StateValidityCallback (backport #3586)#3649
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mergify[bot] wants to merge 1 commit intokiltedfrom
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[OMPL] also check constraints in StateValidityCallback (backport #3586)#3649mergify[bot] wants to merge 1 commit intokiltedfrom
mergify[bot] wants to merge 1 commit intokiltedfrom
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(cherry picked from commit ca2bb1b)
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## kilted #3649 +/- ##
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This allows the IK solver to continue finding a valid solution, which also satisfies the kinematic constraints.
In the old situation the IK solver would return a solution, which it thinks is valid, but it is not. The sampler will keep calling the IK solver. Though for IK solvers, which are not that random. There is a high chance of returning the same solution over and over. Which keeps failing the constraints.
By checking the constraints in the callback the IK solver will continue and return a valid solution.
Please backport to Jazzy and others
Checklist
This is an automatic backport of pull request #3586 done by [Mergify](https://mergify.com).