How does moveit plan function work?

asked 2019-11-18 03:51:06 -0600

user5680 gravatar image

I am new to Moveit and I am having difficulty in understanding the functionality of moveit plan function.

Right now, all I understand is that if you set a desired pose, plan() can compute a trajectory. I want to understand the algorithm that is used to plan the trajectory. It would be great if someone can explain the concept or point me to documentation that explains this.

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