Function moveit_servo::getIKSolverBaseFrame

• Defined in File common.hpp

Function Documentation

std::optional<std::string> moveit_servo::getIKSolverBaseFrame(const moveit::core::RobotStatePtr &robot_state, const std::string &group_name)

Get the base frame of the current active joint group or subgroup’s IK solver.

Parameters:

• robot_state – A pointer to the current robot state.

• group_name – The currently active joint group name.

Returns:

The IK solver base frame, if one exists, otherwise std::nullopt.