Function stomp_moveit::matrixToRobotTrajectory

• Defined in File conversion_functions.hpp

Function Documentation

robot_trajectory::RobotTrajectory stomp_moveit::matrixToRobotTrajectory(const Eigen::MatrixXd &trajectory_values, const moveit::core::RobotState &reference_state, const moveit::core::JointModelGroup *group = nullptr)

Constructs a new robot trajectory with the waypoints provided in the input matrix.

Parameters:

• trajectory_values – The waypoints and positions to copy

• reference_state – The RobotState with default joint values and robot model

• group – An optional JointModelGroup to filter for joints

Returns:

The created RobotTrajectory containing updated waypoints