C++ (Cpp) jnt_array_vector Examples

Example #1

File: kdl_kinematics_plugin.cpp Project: ngtienthanh/crops-moveit

void KDLKinematicsPlugin::getRandomConfiguration(KDL::JntArray &jnt_array) const
{
  std::vector<double> jnt_array_vector(dimension_,0.0);  
  robot_state::JointStateGroup*  joint_state_group = kinematic_state_->getJointStateGroup(getGroupName());
  joint_state_group->setToRandomValues();  
  joint_state_group->getVariableValues(jnt_array_vector);
  for(std::size_t i=0; i < dimension_; ++i)
    jnt_array(i) = jnt_array_vector[i];    
}

Example #2

File: kdl_kinematics_plugin.cpp Project: ehuang3/moveit_ros

void KDLKinematicsPlugin::getRandomConfiguration(KDL::JntArray &jnt_array, bool lock_redundancy) const
{
  std::vector<double> jnt_array_vector(dimension_, 0.0);
  state_->setToRandomPositions(joint_model_group_);
  state_->copyJointGroupPositions(joint_model_group_, &jnt_array_vector[0]);
  for (std::size_t i = 0; i < dimension_; ++i)
  {
    if (lock_redundancy)
      if (isRedundantJoint(i))
        continue;
    jnt_array(i) = jnt_array_vector[i];
  }
}