{"action":"created","comment":{"url":"https://api.github.com/repos/ros-planning/moveit/pulls/comments/183931660","pull_request_review_id":115023367,"id":183931660,"diff_hunk":"@@ -1906,22 +1906,29 @@ double RobotState::computeCartesianPath(const JointModelGroup* group, std::vecto\n \n   Eigen::Quaterniond start_quaternion(start_pose.rotation());\n   Eigen::Quaterniond target_quaternion(rotated_target.rotation());\n-  double distance = start_quaternion.dot(target_quaternion);\n-  if (distance < 0)  // need to bring quaternions to same half sphere?\n+\n+  if (max_step.translation <= 0.0 && max_step.rotation <= 0.0)","path":"moveit_core/robot_state/src/robot_state.cpp","position":34,"original_position":25,"commit_id":"02155252bed83bb7637e49c9aea1f865bb22b5e9","original_commit_id":"58f5b080e99193e535c4f2a5c77af74cd689edd1","user":{"login":"davetcoleman","id":561060,"avatar_url":"https://avatars2.githubusercontent.com/u/561060?v=4","gravatar_id":"","url":"https://api.github.com/users/davetcoleman","html_url":"https://github.com/davetcoleman","followers_url":"https://api.github.com/users/davetcoleman/followers","following_url":"https://api.github.com/users/davetcoleman/following{/other_user}","gists_url":"https://api.github.com/users/davetcoleman/gists{/gist_id}","starred_url":"https://api.github.com/users/davetcoleman/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/davetcoleman/subscriptions","organizations_url":"https://api.github.com/users/davetcoleman/orgs","repos_url":"https://api.github.com/users/davetcoleman/repos","events_url":"https://api.github.com/users/davetcoleman/events{/privacy}","received_events_url":"https://api.github.com/users/davetcoleman/received_events","type":"User","site_admin":false},"body":"sure","created_at":"2018-04-25T02:43:20Z","updated_at":"2018-04-25T02:46:40Z","html_url":"https://github.com/ros-planning/moveit/pull/844#discussion_r183931660","pull_request_url":"https://api.github.com/repos/ros-planning/moveit/pulls/844","author_association":"OWNER","_links":{"self":{"href":"https://api.github.com/repos/ros-planning/moveit/pulls/comments/183931660"},"html":{"href":"https://github.com/ros-planning/moveit/pull/844#discussion_r183931660"},"pull_request":{"href":"https://api.github.com/repos/ros-planning/moveit/pulls/844"}},"in_reply_to_id":182276520},"pull_request":{"url":"https://api.github.com/repos/ros-planning/moveit/pulls/844","id":182298419,"html_url":"https://github.com/ros-planning/moveit/pull/844","diff_url":"https://github.com/ros-planning/moveit/pull/844.diff","patch_url":"https://github.com/ros-planning/moveit/pull/844.patch","issue_url":"https://api.github.com/repos/ros-planning/moveit/issues/844","number":844,"state":"open","locked":false,"title":"Testing for Cartesian space Jumps in Cartesian paths","user":{"login":"mlautman","id":3253549,"avatar_url":"https://avatars3.githubusercontent.com/u/3253549?v=4","gravatar_id":"","url":"https://api.github.com/users/mlautman","html_url":"https://github.com/mlautman","followers_url":"https://api.github.com/users/mlautman/followers","following_url":"https://api.github.com/users/mlautman/following{/other_user}","gists_url":"https://api.github.com/users/mlautman/gists{/gist_id}","starred_url":"https://api.github.com/users/mlautman/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mlautman/subscriptions","organizations_url":"https://api.github.com/users/mlautman/orgs","repos_url":"https://api.github.com/users/mlautman/repos","events_url":"https://api.github.com/users/mlautman/events{/privacy}","received_events_url":"https://api.github.com/users/mlautman/received_events","type":"User","site_admin":false},"body":"### Description\r\n\r\nIn this PR which builds off of #843 (#821) I make additional improvements to the Cartesian planner by adding functionality to detect Cartesian space jumps at the end effector. I use testCartesianSpaceJump to ensure that the midpoint between two successive waypoints doesn't deviate by more than the max_step from either the preceding or following waypoints. This approach is based on [this](https://pdfs.semanticscholar.org/e01a/58608f4e68f31c7b9e7cdbddceae645727bb.pdf) paper on Bounded Deviation Joint Paths.\r\n\r\nNote that this approach recycles the max_step parameter to test for Cartesian space jumps. I considered adding a flag to the MaxEEFStep struct that would disable the testCartesianSpaceJump test but I couldn't come up with a use case and it would have dirtied up the code\r\n\r\nI think @rhaschke will want to review this\r\n### Checklist\r\n- [x] **Required**: Code is auto formatted using [clang-format](http://moveit.ros.org/documentation/contributing/code)\r\n- [ ] Extended the tutorials / documentation, if necessary [reference](http://moveit.ros.org/documentation/contributing/)\r\n- [ ] Include a screenshot if changing a GUI\r\n- [x] Optional: Created tests, which fail without this PR [reference](http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/tests.html)\r\n- [x] Optional: Decide if this should be cherry-picked to other current ROS branches (Indigo, Jade, Kinetic)\r\n\r\n[//]: # \"You can expect a response from a maintainer within 7 days. If you haven't heard anything by then, feel free to ping the thread. Thank you!\"\r\n\r\nThis PR was sponsored by [Sesto Robotics](https://www.sestorobotics.com/)","created_at":"2018-04-17T21:04:38Z","updated_at":"2018-04-25T02:46:40Z","closed_at":null,"merged_at":null,"merge_commit_sha":"9eff1e408db76943e0196c03c23197a1927491c8","assignee":null,"assignees":[],"requested_reviewers":[],"requested_teams":[],"labels":[],"milestone":null,"commits_url":"https://api.github.com/repos/ros-planning/moveit/pulls/844/commits","review_comments_url":"https://api.github.com/repos/ros-planning/moveit/pulls/844/comments","review_comment_url":"https://api.github.com/repos/ros-planning/moveit/pulls/comments{/number}","comments_url":"https://api.github.com/repos/ros-planning/moveit/issues/844/comments","statuses_url":"https://api.github.com/repos/ros-planning/moveit/statuses/02155252bed83bb7637e49c9aea1f865bb22b5e9","head":{"label":"PickNikRobotics:kinetic-cart-jt","ref":"kinetic-cart-jt","sha":"02155252bed83bb7637e49c9aea1f865bb22b5e9","user":{"login":"PickNikRobotics","id":15351303,"avatar_url":"https://avatars2.githubusercontent.com/u/15351303?v=4","gravatar_id":"","url":"https://api.github.com/users/PickNikRobotics","html_url":"https://github.com/PickNikRobotics","followers_url":"https://api.github.com/users/PickNikRobotics/followers","following_url":"https://api.github.com/users/PickNikRobotics/following{/other_user}","gists_url":"https://api.github.com/users/PickNikRobotics/gists{/gist_id}","starred_url":"https://api.github.com/users/PickNikRobotics/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/PickNikRobotics/subscriptions","organizations_url":"https://api.github.com/users/PickNikRobotics/orgs","repos_url":"https://api.github.com/users/PickNikRobotics/repos","events_url":"https://api.github.com/users/PickNikRobotics/events{/privacy}","received_events_url":"https://api.github.com/users/PickNikRobotics/received_events","type":"Organization","site_admin":false},"repo":{"id":113098311,"name":"moveit","full_name":"PickNikRobotics/moveit","owner":{"login":"PickNikRobotics","id":15351303,"avatar_url":"https://avatars2.githubusercontent.com/u/15351303?v=4","gravatar_id":"","url":"https://api.github.com/users/PickNikRobotics","html_url":"https://github.com/PickNikRobotics","followers_url":"https://api.github.com/users/PickNikRobotics/followers","following_url":"https://api.github.com/users/PickNikRobotics/following{/other_user}","gists_url":"https://api.github.com/users/PickNikRobotics/gists{/gist_id}","starred_url":"https://api.github.com/users/PickNikRobotics/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/PickNikRobotics/subscriptions","organizations_url":"https://api.github.com/users/PickNikRobotics/orgs","repos_url":"https://api.github.com/users/PickNikRobotics/repos","events_url":"https://api.github.com/users/PickNikRobotics/events{/privacy}","received_events_url":"https://api.github.com/users/PickNikRobotics/received_events","type":"Organization","site_admin":false},"private":false,"html_url":"https://github.com/PickNikRobotics/moveit","description":"The 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