address JS's comment

include/aikido/constraint/TSR.hpp

@@ -114,6 +114,10 @@ class TSR : public Sampleable,
   bool project(const statespace::StateSpace::State* _s,
       statespace::StateSpace::State* _out) const override;
 
+  double getSatisfiableTolerance();
+
+  void setSatisfiableTolerance(const double satisfiableTolerance);
+
   /// Transformation from origin frame into the TSR frame "w".
   /// "w" is usually centered at the origin of an object held by the hand
   ///  or at a location on an object that is useful for grasping.
@@ -126,10 +130,10 @@ class TSR : public Sampleable,
   /// This often represent an offset from "w" to the origin of the end-effector.
   Eigen::Isometry3d mTw_e;
 
-  /// Tolerance for checking satisfiability
-  double mSatisfiableTolerance;
 
 private:
+  /// Tolerance for checking satisfiability
+  double mSatisfiableTolerance;
   std::unique_ptr<util::RNG> mRng;
   std::shared_ptr<statespace::SE3> mStateSpace;
 };

src/constraint/TSR.cpp

@@ -415,6 +415,17 @@ bool TSRSampleGenerator::sample(statespace::StateSpace::State* _state)
   return true;
 }
 
+//=============================================================================
+double TSR::getSatisfiableTolerance()
+{
+  return mSatisfiableTolerance;
+}
+
+//=============================================================================
+void TSR::setSatisfiableTolerance(const double satisfiableTolerance)
+{
+  mSatisfiableTolerance = satisfiableTolerance;
+}
 
 //=============================================================================
 bool TSRSampleGenerator::canSample() const
@@ -437,6 +448,7 @@ int TSRSampleGenerator::getNumSamples() const
 
   return NO_LIMIT;
 }
+
 } // namespace constraint
 } // namespace aikido