Function moveit_servo::jointDeltaFromTwist

• Defined in File command.hpp

Function Documentation

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

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

Parameters:

• command – The twist command.

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

• servo_params – The servo parameters.

• planning_frame – The planning frame name.

• 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).