Function roboplan::computeFramePath(const Scene&, const Eigen::VectorXd&, const Eigen::VectorXd&, const std::string&, const double)

• Defined in File path_utils.hpp

Function Documentation

std::vector<Eigen::Matrix4d> roboplan::computeFramePath(const Scene &scene, const Eigen::VectorXd &q_start, const Eigen::VectorXd &q_end, const std::string &frame_name, const double max_step_size)

Computes the Cartesian path of a specified frame by interpolating sparse positions.

Parameters:

• scene – The scene to use.

• q_start – The starting joint positions.

• q_end – The ending joint positions.

• frame_name – The name of the frame in which to compute the Cartesian path.

• max_step_size – The maximum configuration distance step size for interpolation.

Returns:

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