Function stomp_moveit::robotTrajectoryToMatrix

• Defined in File conversion_functions.hpp

Function Documentation

Eigen::MatrixXd stomp_moveit::robotTrajectoryToMatrix(const robot_trajectory::RobotTrajectory &trajectory)

Copies the waypoint positions of a RobotTrajectory into an Eigen matrix.

Parameters:

trajectory – The RobotTrajectory to read the waypoint positions fromi

Returns:

The matrix representing a sequence of waypoint positions