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MoveIt Forward kinematics

asked 2018-06-28 03:53:44 -0500

JonasG gravatar image

updated 2018-06-28 04:14:28 -0500

Hi there,

does someone know how the forward kinematics is solved in MoveIt?

I know it is done with the getGlobalLinkTransform, but I don't know if this function solve it with a transformation matrix or in a otherwise.

Or is it only a measurement in the simulation model?

I need it for my Bachelor-Thesis to explain it a little bit.

Would be great if someone can help me out.

Best regards, Jonas

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answered 2018-06-29 11:41:37 -0500

I believe the code you are looking for is here.

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Asked: 2018-06-28 03:53:44 -0500

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Last updated: Jun 28 '18