Function moveit_servo::composeTrajectoryMessage

• Defined in File common.hpp

Function Documentation

std::optional<trajectory_msgs::msg::JointTrajectory> moveit_servo::composeTrajectoryMessage(const servo::Params &servo_params, const std::deque<KinematicState> &joint_cmd_rolling_window)

Create a trajectory message from a rolling window queue of joint state commands. Method optionally returns a trajectory message if one can be created.

Parameters:

• servo_params – The configuration used by servo, required for setting some field of the trajectory message.

• joint_cmd_rolling_window – A rolling window queue of joint state commands.

Returns:

The trajectory message.