Class JointConfiguration

• Defined in File jointconfiguration.h

Inheritance Relationships

Base Type

• public pilz_industrial_motion_planner_testutils::RobotConfiguration (Class RobotConfiguration)

Class Documentation

class JointConfiguration : public pilz_industrial_motion_planner_testutils::RobotConfiguration

Class to define a robot configuration in space with the help of joint values.

Public Functions

JointConfiguration()

JointConfiguration(const std::string &group_name, const std::vector<double> &config, CreateJointNameFunc &&create_joint_name_func)

JointConfiguration(const std::string &group_name, const std::vector<double> &config, const moveit::core::RobotModelConstPtr &robot_model)

inline void setJoint(const size_t index, const double value)

inline double getJoint(const size_t index) const

inline const std::vector<double> getJoints() const

inline size_t size() const

inline virtual moveit_msgs::msg::Constraints toGoalConstraints() const override

inline virtual moveit_msgs::msg::RobotState toMoveitMsgsRobotState() const override

sensor_msgs::msg::JointState toSensorMsg() const

moveit::core::RobotState toRobotState() const

inline void setCreateJointNameFunc(CreateJointNameFunc create_joint_name_func)