Function pilz_industrial_motion_planner::generateJointTrajectory(const planning_scene::PlanningSceneConstPtr&, const JointLimitsContainer&, const KDL::Trajectory&, const std::string&, const std::string&, const std::map<std::string, double>&, double, trajectory_msgs::msg::JointTrajectory&, moveit_msgs::msg::MoveItErrorCodes&, bool)

Function Documentation

bool pilz_industrial_motion_planner::generateJointTrajectory(const planning_scene::PlanningSceneConstPtr &scene, const JointLimitsContainer &joint_limits, const KDL::Trajectory &trajectory, const std::string &group_name, const std::string &link_name, const std::map<std::string, double> &initial_joint_position, double sampling_time, trajectory_msgs::msg::JointTrajectory &joint_trajectory, moveit_msgs::msg::MoveItErrorCodes &error_code, bool check_self_collision = false)

Generate joint trajectory from a KDL Cartesian trajectory.

Parameters:

  • scene – planning scene

  • joint_limits – joint limits

  • trajectory – KDL Cartesian trajectory

  • group_name – name of the planning group

  • link_name – name of the target robot link

  • initial_joint_position – initial joint positions, needed for selecting the ik solution

  • sampling_time – sampling time of the generated trajectory

  • joint_trajectory – output as robot joint trajectory, first and last point will have zero velocity and acceleration

  • error_code – detailed error information

  • check_self_collision – check for self collision during creation

Returns:

true if succeed