Improve Cartesian interpolation #1547
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- Fixup doc comments - Add API providing the translation vector = direction * distance - Simplify implementation
This allows performing a circular motion about a non-link origin.
Codecov ReportBase: 51.10% // Head: 51.09% // Decreases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## main #1547 +/- ##
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- Coverage 51.10% 51.09% -0.00%
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Files 380 380
Lines 31802 31806 +4
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Hits 16249 16249
- Misses 15553 15557 +4
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moveit_core/robot_state/include/moveit/robot_state/cartesian_interpolator.h
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AndyZe
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moveit_core/robot_state/include/moveit/robot_state/cartesian_interpolator.h
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moveit_core/robot_state/include/moveit/robot_state/cartesian_interpolator.h
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Co-authored-by: AndyZe <andyz@utexas.edu>
AndyZe
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henningkayser
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Note that when I tried to pull this branch and do a clean build, I ran into a linker error caused by moveit_ros_robot_interaction. The MR at #1617 fixed the issue. |
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* Generalize computeCartesianPath() to consider a link_offset which allows performing a circular motion about a non-link origin. * Augment reference to argument global_reference_frame Co-authored-by: AndyZe <andyz@utexas.edu> (cherry picked from commit 749c5ae)
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* Generalize computeCartesianPath() to consider a link_offset which allows performing a circular motion about a non-link origin. * Augment reference to argument global_reference_frame Co-authored-by: AndyZe <andyz@utexas.edu> (cherry picked from commit 749c5ae) Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com>
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Port from Noetic of moveit/moveit#3197.
Prepares addressing moveit/moveit_task_constructor#359 (see moveit/moveit_task_constructor#380 as well.)