Template Function pilz_industrial_motion_planner::getSolverTipFrame

• Defined in File tip_frame_getter.h

Function Documentation

template<class JointModelGroup>
static const std::string &pilz_industrial_motion_planner::getSolverTipFrame(const JointModelGroup *group)

Template Parameters:

JointModelGroup – aims at moveit::core::JointModelGroup

Throws:

• exception – in case the group has no solver.

• exception – in case the solver for the group has more than one tip frame.

Returns:

The name of the tip frame (link) of the specified group returned by the solver.