Function moveit_ros::trajectory_cache::getCartesianPathRequestFrameId

Function Documentation

std::string moveit_ros::trajectory_cache::getCartesianPathRequestFrameId(const moveit::planning_interface::MoveGroupInterface &move_group, const moveit_msgs::srv::GetCartesianPath::Request &path_request)

Gets cartesian path request frame ID. If path_request has no frame ID, fetch it from move_group.

It makes sense to use getPoseReferenceFrame() in the absence of a frame ID in the request because the same method is used to populate the header frame ID in the MoveGroupInterface’s computeCartesianPath() method, which this function is associated with.