Draft: gather ik failure information in IkReturn

[Puttichai]

Summary

This pull request introduces a class IkFailureInfo that gathers additional information on reasons why an IK computation fails. For example, if an IK call finishes with IKRA_RejectJointLimits, an ikFailureInfo instance will keep record of which robot configuration violates the limits.

Changes

• Added new classes

  • IkFailureInfo: this stores information related to the failure such as robot configurations and ikparams.
  • IkFailureAccumulator: this stores caches of IkFailureInfo objects. When a valid pointer to IkFailureAccumulator is given to a FindIKSolution/FindIKSolutions call, the ik solver can retrieve IkFailureInfo from the accumulator, fill in related information, then store them in the output IkReturn. However, note that the implementation of filling failure information in IkFailureInfo and hence IkReturn is up to each ik solver.

• IkReturn has a new member _vIkFailureInfos that stores pointers to IkFailureInfos that are filled with failure information.

• PlannerStatus can now also store IkFailureInfos.

• Added/modified python bindings

  • FindIKSolution and FindIKSolutions calls from python can now accept an ik failure accumulator as an input. If an accumulator is provided to the call and ikreturn=true, then ik solver can fill in failure information and output them through the returned IkReturn.

  # suppose an ik solver is set
  paccumulator = IkFailureAccumulator()
  ikreturn = manip.FindIKSolution(ikparam, IkFilterOptions.CheckEnvCollisions, True, True, paccumulator)
  ikfailureinfos = ikreturn.GetIkFailureInfos() # a list of PyIkFailureInfos

[cielavenir]

sorry to bother you @ntohge, but do you know any progress on this pull request?