Function pilz_industrial_motion_planner::generateJointTrajectory(const planning_scene::PlanningSceneConstPtr&, const JointLimitsContainer&, const pilz_industrial_motion_planner::CartesianTrajectory&, const std::string&, const std::string&, const std::map<std::string, double>&, const std::map<std::string, double>&, trajectory_msgs::msg::JointTrajectory&, moveit_msgs::msg::MoveItErrorCodes&, bool)
Defined in File trajectory_functions.h
Function Documentation
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bool pilz_industrial_motion_planner::generateJointTrajectory(const planning_scene::PlanningSceneConstPtr &scene, const JointLimitsContainer &joint_limits, const pilz_industrial_motion_planner::CartesianTrajectory &trajectory, const std::string &group_name, const std::string &link_name, const std::map<std::string, double> &initial_joint_position, const std::map<std::string, double> &initial_joint_velocity, trajectory_msgs::msg::JointTrajectory &joint_trajectory, moveit_msgs::msg::MoveItErrorCodes &error_code, bool check_self_collision = false)
Generate joint trajectory from a MultiDOFJointTrajectory.
- Parameters:
scene – planning scene
trajectory – Cartesian trajectory
info – motion plan information
sampling_time –
joint_trajectory –
error_code –
- Returns:
true if succeed