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

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