Descartes getClosestJointPose() getNominalJointPose() difference?

asked 2019-08-09 07:52:24 -0500

nicola-sysdesign gravatar image

Hi, I'm interested to knowing more about the difference between the two methods getClosestJointPose() and getNominalJointPose() in descartes_core::TrajectoryPt to retrieve the joint poses solution. Can someone explain me what's the difference between the two methods?

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