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What this means is: You have correctly created a Translation3D solver using IKFast. But the plugin, which wraps your solver, doesn't know how to handle Translation3D yet, because I haven't implemented it yet; I have never used Translation3D, so I couldn't test it.

What the switch statement you quoted does is that it calls ComputeIk() from the generated solver; the ComputeIk() type signature is always the same, but the meaning of the arguments differs depending on the IkParameterizationType. For Translation3D there is only the translation, which is already stored in the variable trans, so you can probably leave the second argument (the direction/rotation/...) as NULL, like this:

    case IKP_Translation3D:
      ComputeIk(trans, NULL, vfree.size() > 0 ? &vfree[0] : NULL, solutions);
      return solutions.GetNumSolutions();

Please let me know if it works!

P.S.: I recommend asking MoveIt-related questions on the moveit-users mailing list, since most developers are reading that.

What this means is: You have correctly created a Translation3D solver using IKFast. But the plugin, which wraps your solver, doesn't know how to handle Translation3D yet, because I haven't implemented it yet; I have never used Translation3D, so I couldn't test it.

What the switch statement you quoted does is that it calls ComputeIk() from the generated solver; the ComputeIk() type signature is always the same, but the meaning of the arguments differs depending on the IkParameterizationType. For Translation3D there is only the translation, which is already stored in the variable trans, so you can probably leave the second argument (the direction/rotation/...) as NULL, like this:

    case IKP_Translation3D:
      ComputeIk(trans, NULL, vfree.size() > 0 ? &vfree[0] : NULL, solutions);
      return solutions.GetNumSolutions();

Please let me know if it works!works, so I can update the moveit_ikfast package!

P.S.: I recommend asking MoveIt-related questions on the moveit-users mailing list, since most developers are reading that.