Function moveit_servo::poseFromCartesianDelta

Defined in File common.hpp

Function Documentation

geometry_msgs::msg::Pose moveit_servo::poseFromCartesianDelta(const Eigen::VectorXd &delta_x, const Eigen::Isometry3d &base_to_tip_frame_transform)

Create a pose message for the provided change in Cartesian position.

Parameters:

delta_x – The change in Cartesian position.
base_to_tip_frame_transform – The transformation from robot base to ee frame.

Returns:

The pose message.