<a name="l00029"></a>00029     {
<a name="l00030"></a>00030       pose_vec poses(poses_in.begin(), poses_in.end());
<a name="l00031"></a>00031       get_space_bounds(poses);
<a name="l00032"></a>00032 
<a name="l00033"></a>00033       <span class="comment">// Again need to check if theta1 and s are circular</span>
<a name="l00034"></a>00034       circular.resize(6);
<a name="l00035"></a>00035       circular[0] = circular[1] = circular[2] = circular[5] = <span class="keyword">false</span>;
<a name="l00036"><