Function pilz_industrial_motion_planner::isRobotStateEqual

Defined in File trajectory_functions.h

Function Documentation

bool pilz_industrial_motion_planner::isRobotStateEqual(const moveit::core::RobotState &state1, const moveit::core::RobotState &state2, const std::string &joint_group_name, double epsilon)

Check if the two robot states have the same joint position/velocity/acceleration.

Parameters:

joint_group_name – The name of the joint group.
epsilon – Constants defining how close the joint position/velocity/acceleration have to be to be recognized as equal.

Returns:

True if joint positions, joint velocities and joint accelerations are equal, otherwise false.