39 #include <pybind11/pybind11.h>
40 #include <pybind11/stl.h>
41 #include <pybind11/eigen.h>
43 #include <moveit_msgs/msg/robot_trajectory.hpp>
44 #include <rclcpp/rclcpp.hpp>
50 namespace bind_robot_trajectory
52 moveit_msgs::msg::RobotTrajectory
54 const std::vector<std::string>& joint_filter);
Representation of a robot's state. This includes position, velocity, acceleration and effort.
Maintain a sequence of waypoints and the time durations between these waypoints.
robot_trajectory::RobotTrajectory setRobotTrajectoryMsg(const std::shared_ptr< robot_trajectory::RobotTrajectory > &robot_trajectory, const moveit::core::RobotState &robot_state, const moveit_msgs::msg::RobotTrajectory &msg)
moveit_msgs::msg::RobotTrajectory getRobotTrajectoryMsg(const robot_trajectory::RobotTrajectoryConstPtr &robot_trajectory, const std::vector< std::string > &joint_filter)
void initRobotTrajectory(py::module &m)