cartesian_interpolator.cpp File Reference

#include <memory>
#include <moveit/robot_state/cartesian_interpolator.h>
#include <geometric_shapes/check_isometry.h>

Include dependency graph for cartesian_interpolator.cpp:

Go to the source code of this file.

Namespaces
	moveit
	Main namespace for MoveIt.
	moveit::core
	Core components of MoveIt.

Functions
bool	moveit::core::validateAndImproveInterval (const RobotState &start_state, const RobotState &end_state, const Eigen::Isometry3d &start_pose, const Eigen::Isometry3d &end_pose, std::vector< RobotStatePtr > &traj, double &percentage, const double width, const JointModelGroup *group, const LinkModel *link, const CartesianPrecision &precision, const GroupStateValidityCallbackFn &validCallback, const kinematics::KinematicsQueryOptions &options, const Eigen::Isometry3d &link_offset)

Variables
static const std::size_t	moveit::core::MIN_STEPS_FOR_JUMP_THRESH = 10
	It is recommended that there are at least 10 steps per trajectory for testing jump thresholds with computeCartesianPath. With less than 10 steps it is difficult to choose a jump_threshold parameter that effectively separates valid paths from paths with large joint space jumps. More...