Function roboplan::createJointGroupInfo

• Defined in File scene_utils.hpp

Function Documentation

std::unordered_map<std::string, JointGroupInfo> roboplan::createJointGroupInfo(const pinocchio::Model &model, const std::string &srdf)

Creates the joint group information for the scene;.

Parameters:

• model – The Pinocchio model.

• srdf_stream – The SRDF file contents.

Returns:

The map of robot joint group names to group info.