How does one make a kinematics error do something reasonable, like
report an error and stop motion?
It appears that the return values from the Fwd/Inv kinematics calls are
ignored, at least from my reading of control.c and command.c.
I suppose I could throw something outside of the joint ranges and let it
fail that way, but perhaps that is something better to do.
Perhaps related, is that my machine has complex kinematics and the JOINT
spec's don't map linearly, but it seems the TRAJ spec's
for MIN_LIMIT and MAX_LIMIT are meant for linear axes, so I have had to
specify them in the XYZ axis coordinates which are not
truly the joint min and max. Apologies if this is not clear.
Thanks
David
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