Check for infinite values in GreedyIK planner.

Author: Michael Koval

src/prpy/planning/workspace.py

@@ -105,6 +105,8 @@ def PlanToEndEffectorOffset(self, robot, direction, distance,
             raise ValueError('Direction must be non-zero')
         elif max_distance is not None and max_distance < distance:
             raise ValueError('Max distance is less than minimum distance.')
+        elif max_distance is not None and not numpy.isfinite(max_distance):
+            raise ValueError('Max distance must be finite.')
 
         # Normalize the direction vector.
         direction = numpy.array(direction, dtype='float')