Function moveit_ros::trajectory_cache::constructGetCartesianPathRequest
Defined in File utils.hpp
Function Documentation
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moveit_msgs::srv::GetCartesianPath::Request moveit_ros::trajectory_cache::constructGetCartesianPathRequest(moveit::planning_interface::MoveGroupInterface &move_group, const std::vector<geometry_msgs::msg::Pose> &waypoints, double max_step, double jump_threshold, bool avoid_collisions = true)
Constructs a GetCartesianPath request.
This is a convenience function. This mimics the move group computeCartesianPath signature (without path constraints).
WARNING: The following fields are not supported, if you want to specify them, add them in yourself.
prismatic_jump_threshold
revolute_jump_threshold
cartesian_speed_limited_link
max_cartesian_speed
- Parameters:
move_group. – [in] The manipulator move group, used to get its state, frames, and link.
waypoints. – [in] The cartesian waypoints to request the path for.
max_step. – [in] The value to populate into the
GetCartesianPath
request’s max_step field.jump_threshold. – [in] The value to populate into the
GetCartesianPath
request’s jump_threshold field.avoid_collisions. – [in] The value to populate into the
GetCartesianPath
request’s avoid_collisions field.
- Returns: