Continuation of "Adding kinematics cost function tutorial #462" #669
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sjahr
commented
Apr 21, 2023
doc/examples/kinematics_cost_function/src/kinematics_cost_function_tutorial.cpp
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sea-bass
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Apr 21, 2023
doc/examples/kinematics_cost_function/launch/kinematics_cost_function_tutorial.launch.py
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…unction_tutorial.launch.py Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>
sea-bass
reviewed
Apr 24, 2023
doc/examples/kinematics_cost_function/src/kinematics_cost_function_tutorial.cpp
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| const auto frac = moveit::core::CartesianInterpolator::computeCartesianPath( | ||
| start_state.get(), joint_model_group, traj, joint_model_group->getLinkModel("panda_link8"), target, true, | ||
| max_eef_step, jump_thresh, callback_fn, opts, cost_fn); |
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Might be worth saying if you don't want to use the cost function (for comparison), how do you leave it out? Would you just omit that last argument?
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Exactly, if you leave it out it will just use an empty std::function object, alternatively, you can pass it an empty function object.
static Distance computeCartesianPath(
RobotState* start_state, const JointModelGroup* group, std::vector<std::shared_ptr<RobotState>>& traj,
const LinkModel* link, const Eigen::Vector3d& translation, bool global_reference_frame,
const MaxEEFStep& max_step, const JumpThreshold& jump_threshold,
const GroupStateValidityCallbackFn& validCallback = GroupStateValidityCallbackFn(),
const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions(),
const kinematics::KinematicsBase::IKCostFn& cost_function = kinematics::KinematicsBase::IKCostFn());Since the tutorial is about using the cost function API and we assume the users to have some C++ skills I would not explain this.
…tion_tutorial.cpp Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com>
sjahr
commented
Apr 24, 2023
| std::vector<moveit::core::RobotStatePtr> traj; | ||
| moveit::core::MaxEEFStep max_eef_step(0.01, 0.1); | ||
| // Here, we're effectively disabling the jump threshold for joints. This is not recommended on real hardware. | ||
| moveit::core::JumpThreshold jump_thresh(0.0); |
|
This pull request is in conflict. Could you fix it @sjahr? |
sea-bass
approved these changes
Apr 26, 2023
|
I think this will serve as a good reference point for doing the same with |
tylerjw
approved these changes
Apr 27, 2023
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Description
Continues #462
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