Function pilz_industrial_motion_planner::computeLinkFK(const planning_scene::PlanningSceneConstPtr&, const std::string&, const std::map<std::string, double>&, Eigen::Isometry3d&)

Function Documentation

bool pilz_industrial_motion_planner::computeLinkFK(const planning_scene::PlanningSceneConstPtr &scene, const std::string &link_name, const std::map<std::string, double> &joint_state, Eigen::Isometry3d &pose)

compute the pose of a link at give robot state

Parameters:

  • robot_model – kinematic model of the robot

  • link_name – target link name

  • joint_state – joint positions of this group

  • pose – pose of the link in base frame of robot model

Returns:

true if succeed