Function stomp_moveit::fillRobotTrajectory

Function Documentation

void stomp_moveit::fillRobotTrajectory(const Eigen::MatrixXd &trajectory_values, const moveit::core::RobotState &reference_state, robot_trajectory::RobotTrajectory &trajectory)

Writes the provided position value sequence into a robot trajectory.

  • trajectory_values – The joint value sequence to copy the waypoints from

  • reference_state – A robot state providing default joint values and robot model

  • trajectory – The robot trajectory containing waypoints with updated values