Add toppra plugin code structure #24
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@kamiradi I cannot tag you as a reviewer but do you mind reviewing this PR? |
sea-bass
reviewed
Aug 6, 2024
sjahr
commented
Aug 6, 2024
| auto toppra = Toppra(input_trajectory, plant, grid_points); | ||
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| ///////////////////////////////////////////////////////////////////////// | ||
| // Read joint bounds from robot model (TODO(sjahr): Expose in MoveIt2) // |
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@kamiradi FYI:This is how you can read the joint limits
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Might be good to put this in a utility function to share between TOPPRA and KTOpt (and whatever else comes next)
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I'll add that to moveit
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Cool! Might be useful in MoveIt Servo as well since I recall having to write similar code there.
Co-authored-by: Sebastian Castro <[email protected]>
sea-bass
approved these changes
Aug 6, 2024
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First iteration on the toppra plugin. Implements the plugin + adds conversation functions between drake and moveit classes. At the moment toppra is not able to solve the problems given by the demo. I'd like to fix that in a follow-up PR and maybe you spot something in your review that might cause the issue.
Once TOPPRA is working, I'll also clean-up the spaghetti code in the main plugin file 😅