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 | 1 | initial version |
MoveIt and the planning library it uses, OMPL, are always planning in the c-space. The only IK that MoveIt has to do is to convert a Pose Goal into the robot configuration and then plans in the C-space using that configuration. If the robot is redundant, and multiple configurations can satisfy the given Pose Goal, then MoveIt samples several and plans to multiple goals.
| | 2 | No.2 Revision |
MoveIt and the planning library it uses, OMPL, are always planning in the c-space. C-space. The only IK that MoveIt has to do is to convert a Pose Goal into the robot configuration and then plans in the C-space using that configuration. If the robot is redundant, and multiple configurations can satisfy the given Pose Goal, then MoveIt samples several and plans to multiple goals.
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