Function bitbots_splines::joint_goals_update_diff

• Defined in File abstract_ik.hpp

Function Documentation

inline JointGoals bitbots_splines::joint_goals_update_diff(const JointGoals &goals, const std::vector<std::string> &names, const std::vector<double> &diffs, rclcpp::Logger logger)

Update joint goal values in bulk by adding the corresponding difference to the current value

Parameters

• goals – Initial goal values

• names – List of names which include the joints that should get updated

• diffs – Differences to be applied to the previously defined joint names

Returns

new joint goals with updated values