Function stomp_moveit::matrixToRobotTrajectory

Function Documentation

robot_trajectory::RobotTrajectory stomp_moveit::matrixToRobotTrajectory(const Eigen::MatrixXd &trajectory_values, const moveit::core::RobotState &reference_state, const moveit::core::JointModelGroup *group = nullptr)

Constructs a new robot trajectory with the waypoints provided in the input matrix.

  • trajectory_values – The waypoints and positions to copy

  • reference_state – The RobotState with default joint values and robot model

  • group – An optional JointModelGroup to filter for joints


The created RobotTrajectory containing updated waypoints