Support for optimising IK solvers. Use minimum of the remaining stage timeout and configured IK solver timeout

[joseph-moore-CO]

This change is to support using optimising IK solvers such as TRAC-IK distance solver in compute_ik stages.

The previous behaviour was to use the remaining stage timeout as the timeout for the individual call to the IK solver. In the case of optimising IK solvers, which use the entire provided timeout to find the best solution, this would mean that only one IK solution would be generated.

For example with TRAC-IK distance solver configured to use a 5ms timeout and the stage timeout set to 1s, the full 1s was actually used for a single solution generation.

This change uses the minimum of the configured timeout on the IK solver, or the remaining stage time left. Thus meaning that the above scenario will make multiple 5ms calls to the TRAC-IK solver until the total 1s stage timeout is reached.

[codecov]

Codecov Report

❌ Patch coverage is 0% with 2 lines in your changes missing coverage. Please review.
✅ Project coverage is 52.94%. Comparing base (ef1cdee) to head (244ad47).
⚠️ Report is 1 commits behind head on master.

Files with missing lines	Patch %	Lines
core/src/stages/compute_ik.cpp	0.00%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #724      +/-   ##
==========================================
+ Coverage   52.78%   52.94%   +0.17%     
==========================================
  Files         138      138              
  Lines       11245    10610     -635     
  Branches     1125     1125              
==========================================
- Hits         5934     5616     -318     
+ Misses       5303     4986     -317     
  Partials        8        8              

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.