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How how are dynamic parameters represented in MoveIt?

I have recently started exploring MoveIt! but I'm confused about state representation. I see that there is a robot_state name space with a number of classes including the RobotState class. However the description indicated that it's meant to be the kinematic state. I would like to represent the dynamic state as well. Is it reasonable to include such state information in the RobotState or is there another class intended to represent the dynamic variables?

Asked by Dustin on 2013-10-07 06:24:59 UTC

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What kind of dynamic parameters are you talking about? Velocity, acceleration / effort are represented in the Hydro version of RobotState.

Asked by isucan on 2013-10-08 01:55:38 UTC

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