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ros-industrial-consortium / descartes

ROS-Industrial Special Project: Cartesian Path Planner
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RePlanning #203

Closed ghost closed 6 years ago

ghost commented 7 years ago

Hey,

Is there a way to replan on real time or append new points and then re-calculate? Is there a way to plan a path with non-zero initial and ending conditions?

Thanks.

Jmeyer1292 commented 7 years ago

To your first question:

  1. I'm not sure about real-time, but you can append points through the PlannerBase interface. See here.

  2. If by non zero you mean non-zero position, then yes: Any trajectory point, including an underconstrained one or a fully constrained joint position, can be the start or end of the path.