Added customToolFrameTF() function to address Issue #20.

plusone-robotics / moveit_simple

A wrapper around MoveIt that enables more traditional industrial robot programming.

Apache License 2.0

15 stars 12 forks source link

Added customToolFrameTF() function to address Issue #20. #27

Closed MauleshSTrivedi closed 7 years ago

MauleshSTrivedi commented 7 years ago

TODO: Add Unit tests.

Added functionality for setting a goal_pose from a custom tool frame in getJointSolution(...). The function customToolFrameTF(...) takes a target_pose and a tool_frame as input arguments and computes the TF from this frame to the moveit_end_link. The transformed goal_pose is then used for calculating the IK.

The next step would be to add this functionality to the isReachable(...) and isInCollision(...) methods.

MauleshSTrivedi commented 7 years ago

testing some discrepancies. sending up a new PR that only slightly modifies the above one.