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Make checkKin optional in debug #1043

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Make checkKin optional in debug #1043

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3 changes: 2 additions & 1 deletion tesseract_environment/include/tesseract_environment/environment.h
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Original file line number Diff line number Diff line change
Expand Up @@ -204,7 +204,8 @@ class Environment
* @return A kinematics group
*/
std::unique_ptr<tesseract_kinematics::KinematicGroup> getKinematicGroup(const std::string& group_name,
const std::string& ik_solver_name = "") const;
const std::string& ik_solver_name = "",
bool check_kinematics = true) const;

/**
* @brief Find tool center point provided in the manipulator info
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11 changes: 6 additions & 5 deletions tesseract_environment/src/environment.cpp
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Expand Up @@ -301,7 +301,8 @@ struct Environment::Implementation
const std::vector<std::string>& joint_names) const;

std::unique_ptr<tesseract_kinematics::KinematicGroup> getKinematicGroup(const std::string& group_name,
std::string ik_solver_name) const;
std::string ik_solver_name,
bool check_kinematics) const;

Eigen::Isometry3d findTCPOffset(const tesseract_common::ManipulatorInfo& manip_info) const;

Expand Down Expand Up @@ -806,7 +807,7 @@ Environment::Implementation::getJointGroup(const std::string& name, const std::v
}

std::unique_ptr<tesseract_kinematics::KinematicGroup>
Environment::Implementation::getKinematicGroup(const std::string& group_name, std::string ik_solver_name) const
Environment::Implementation::getKinematicGroup(const std::string& group_name, std::string ik_solver_name, bool check_kinematics) const
{
std::unique_lock<std::shared_mutex> cache_lock(kinematic_group_cache_mutex);
std::pair<std::string, std::string> key = std::make_pair(group_name, ik_solver_name);
Expand Down Expand Up @@ -839,7 +840,7 @@ Environment::Implementation::getKinematicGroup(const std::string& group_name, st
kinematic_group_cache[key] = std::make_unique<tesseract_kinematics::KinematicGroup>(*kg);

#ifndef NDEBUG
if (!tesseract_kinematics::checkKinematics(*kg))
if (check_kinematics && !tesseract_kinematics::checkKinematics(*kg))
{
CONSOLE_BRIDGE_logError("Check Kinematics failed. This means that inverse kinematics solution for a pose do not "
"match forward kinematics solution. Did you change the URDF recently?");
Expand Down Expand Up @@ -2324,10 +2325,10 @@ Environment::getJointGroup(const std::string& name, const std::vector<std::strin
}

std::unique_ptr<tesseract_kinematics::KinematicGroup>
Environment::getKinematicGroup(const std::string& group_name, const std::string& ik_solver_name) const
Environment::getKinematicGroup(const std::string& group_name, const std::string& ik_solver_name, bool check_kinematics) const
{
std::shared_lock<std::shared_mutex> lock(mutex_);
return std::as_const<Implementation>(*impl_).getKinematicGroup(group_name, ik_solver_name);
return std::as_const<Implementation>(*impl_).getKinematicGroup(group_name, ik_solver_name, check_kinematics);
}

// NOLINTNEXTLINE
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