Function getConstraintPose(const geometry_msgs::msg::Point&, const geometry_msgs::msg::Quaternion&, const geometry_msgs::msg::Vector3&)

Defined in File trajectory_functions.h

Function Documentation

Eigen::Isometry3d getConstraintPose(const geometry_msgs::msg::Point &position, const geometry_msgs::msg::Quaternion &orientation, const geometry_msgs::msg::Vector3 &offset)

Adapt goal pose, defined by position+orientation, to consider offset.

Parameters:

constraint – to apply offset to
offset – to apply to the constraint
orientation – to apply to the offset

Returns:

final goal pose