Function pilz_industrial_motion_planner::computeLinkFK(moveit::core::RobotState&, const std::string&, const std::map<std::string, double>&, Eigen::Isometry3d&)

Function Documentation

bool pilz_industrial_motion_planner::computeLinkFK(moveit::core::RobotState &robot_state, const std::string &link_name, const std::map<std::string, double> &joint_state, Eigen::Isometry3d &pose)

compute the pose of a link at a given robot state

Parameters:

  • robot_state – an arbitrary robot state (with collision objects attached)

  • 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