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Quadcopter path planning with only 3DOF in Translation

moveit+joint_states

asked 2016-03-04 13:55:56 -0500

cheng_shy
1 ●1 ●2 ●1

I am working on test moveit with quadcopter. I just use a sphere shape to represent the quad in planning scene and use a virtual joint (floating) to do planning.

However, I want to speed up the planning so I am thinking instead of using 6DOF state space, can I just use 3 DOF (just translation) to generate trajectory? Do I need to modify the moveit source code to realize it?

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