moveit_ros/planning_interface/test/subframes_test.cpp
bool moveToCartPose(const geometry_msgs::PoseStamped& pose, moveit::planning_interface::MoveGroupInterface& group,
                    const std::string& end_effector_link)
{
  group.clearPoseTargets();
  group.setEndEffectorLink(end_effector_link);
  group.setStartStateToCurrentState();
  group.setPoseTarget(pose);

  moveit::planning_interface::MoveGroupInterface::Plan myplan;
  if (group.plan(myplan) && group.execute(myplan))
  {
    return true;
  }

  ROS_WARN("Failed to perform motion.");
  return false;
}
// Function copied from tutorial
// a small helper function to create our planning requests and move the robot.
Function copied from tutorial
a small helper function to create our planning requests and move the robot.
Function copied from tutorial a small helper function to create our planning requests and move the robot .
bool moveToCartPose(const geometry_msgs::PoseStamped& pose, moveit::planning_interface::MoveGroupInterface& group,
                    const std::string& end_effector_link)
{
  group.clearPoseTargets();
  group.setEndEffectorLink(end_effector_link);
  group.setStartStateToCurrentState();
  group.setPoseTarget(pose);
  moveit::planning_interface::MoveGroupInterface::Plan myplan;
  if (group.plan(myplan) && group.execute(myplan))
  {
    return true;
  }
  ROS_WARN("Failed to perform motion.");
  return false;
}
bool moveToCartPose ( const geometry_msgs :: PoseStamped & pose , moveit :: planning_interface :: MoveGroupInterface & group , const std :: string & end_effector_link ) { group . clearPoseTargets ( ) ; group . setEndEffectorLink ( end_effector_link ) ; group . setStartStateToCurrentState ( ) ; group . setPoseTarget ( pose ) ; moveit :: planning_interface :: MoveGroupInterface :: Plan myplan ; if ( group . plan ( myplan ) && group . execute ( myplan ) ) { return true ; } ROS_WARN ( " " ) ; return false ; }
Function copied from tutorial
a small helper function to create our planning requests and move the robot.
Function copied from tutorial a small helper function to create our planning requests and move the robot .