Function cartesian_trajectories::pose_generators::generate_relative_motion[−][src]

pub fn generate_relative_motion(
    displacement: Isometry3<f64>, 
    frame: RelativeMotionFrame
) -> PoseGenerator

generates a motion where to goal is specified relative to the start pose.

There are 3 different modes which define how the relative motion will look like:

  • Base: shifts the initial pose about displacement as seen by the world frame. In other words, the displacement is multiplied on the left-hand side of the initial pose

  • Tcp: shifts the initial pose about displacement as seen by the end effector frame. In other words, the displacement is multiplied on the right-hand side of the initial pose

  • Unit: shifts the initial pose about displacement as seen by the unit frame. In other words, the initial pose is ignored, and we move from directly to the displacement. This can be useful if you want to multiply a pose generator with another one.