Extend MotionPlanRequest with seed trajectories

moveit · Jul 7, 2018 · d79229b · d79229b
1 parent 3667e9d
commit d79229b
Show file tree

Hide file tree

Showing 3 changed files with 7 additions and 0 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -28,6 +28,7 @@ DisplayRobotState.msg
 Grasp.msg
 GripperTranslation.msg
 JointConstraint.msg
+JointOrCartesianTrajectory.msg
 JointLimits.msg
 LinkPadding.msg
 LinkScale.msg

diff --git a/msg/JointOrCartesianTrajectory.msg b/msg/JointOrCartesianTrajectory.msg
@@ -0,0 +1,3 @@
+Header header
+trajectory_msgs/JointTrajectory joint_trajectory
+geometry_msgs/TransformStamped[] cartesian_trajectory
diff --git a/msg/MotionPlanRequest.msg b/msg/MotionPlanRequest.msg
@@ -20,6 +20,9 @@ Constraints path_constraints
 # The constraints the resulting trajectory must satisfy
 TrajectoryConstraints trajectory_constraints
 
+# A set of trajectories to be used as seed trajectories for optimization-based planners
+JointOrCartesianTrajectory[] seed_trajectories
+
 # The name of the motion planner to use. If no name is specified,
 # a default motion planner will be used
 string planner_id