Support for optimising IK solvers. Use minimum of the remaining stage timeout and the default solver timeout for each IK solve attempt

Author: joseph-moore-CO

core/src/stages/compute_ik.cpp

@@ -413,7 +413,8 @@ void ComputeIK::compute() {
 		tried_current_state_as_seed = true;
 
 		size_t previous = ik_solutions.size();
-		bool succeeded = sandbox_state.setFromIK(jmg, target_pose, link->getName(), remaining_time, is_valid);
+		auto iteration_timeout = std::min(remaining_time, jmg->getDefaultIKTimeout());
+		bool succeeded = sandbox_state.setFromIK(jmg, target_pose, link->getName(), iteration_timeout, is_valid);
 
 		auto now = std::chrono::steady_clock::now();
 		remaining_time -= std::chrono::duration<double>(now - start_time).count();