Function moveit_servo::jointDeltaFromPose

Function Documentation

JointDeltaResult moveit_servo::jointDeltaFromPose(const PoseCommand &command, const moveit::core::RobotStatePtr &robot_state, const servo::Params &servo_params, const std::string &planning_frame, const std::string &ee_frame, const JointNameToMoveGroupIndexMap &joint_name_group_index_map)

Compute the change in joint position for the given pose command.

Parameters:

  • command – The pose command.

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

  • servo_params – The servo parameters.

  • planning_frame – The planning frame name.

  • ee_frame – The end effector frame name.

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

Returns:

The status and joint position change required (delta).