Function moveit_servo::jointDeltaFromIK

• Defined in File command.hpp

Function Documentation

JointDeltaResult moveit_servo::jointDeltaFromIK(const Eigen::VectorXd &cartesian_position_delta, const moveit::core::RobotStatePtr &robot_state, const servo::Params &servo_params, const JointNameToMoveGroupIndexMap &joint_name_group_index_map)

Computes the required change in joint angles for given Cartesian change, using the robot’s IK solver.

Parameters:

• cartesian_position_delta – The change in Cartesian position.

• robot_state_ – The current robot state as obtained from PlanningSceneMonitor.

• servo_params – The servo parameters.

• joint_name_group_index_map – Mapping between joint subgroup name and move group joint vector position.

Returns:

The status and joint position change required (delta).