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Can now get the jacobian of a child link of a move group. #877

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merged 3 commits into from
May 23, 2018
Merged

Can now get the jacobian of a child link of a move group. #877

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2a3b09c
Can now get the jacobian of a child link of a move group.
BryceStevenWilley May 2, 2018
bae0116
Removed redundancy in jacobian group fix.
BryceStevenWilley May 3, 2018
d56d217
fixup! Removed redundancy in jacobian group fix.
BryceStevenWilley May 3, 2018
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5 changes: 5 additions & 0 deletions moveit_core/robot_state/src/robot_state.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1163,6 +1163,11 @@ bool RobotState::getJacobian(const JointModelGroup* group, const LinkModel* link
const JointModel* pjm = link->getParentJointModel();
if (pjm->getVariableCount() > 0)
{
if (not group->hasJointModel(pjm->getName()))
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{
link = pjm->getParentLinkModel();
continue;
}
unsigned int joint_index = group->getVariableGroupIndex(pjm->getName());
if (pjm->getType() == robot_model::JointModel::REVOLUTE)
{
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