Function roboplan::computeFramePath(const Scene&, const std::vector<Eigen::VectorXd>&, const std::string&)

Defined in File path_utils.hpp

Function Documentation

std::vector<Eigen::Matrix4d> roboplan::computeFramePath(const Scene &scene, const std::vector<Eigen::VectorXd> &q_vec, const std::string &frame_name)

Computes the Cartesian path of a specified frame using a vector of provided points.

Parameters:

scene – The scene to use.
q_vec – A vector of joint positions.
frame_name – The name of the frame in which to compute the Cartesian path.

Returns:

A list of 4x4 matrices corresponding to the poses of the frame along the path.