what is use of gravity_vector in order to get requred torque in moveit?

asked 2020-08-24 18:13:26 -0600

saztyga gravatar image

updated 2020-08-24 18:43:33 -0600

jayess gravatar image

I am following this page and the constructor defination given below?

what is the 3rd parameter and why do we use it ?

dynamics_solver::DynamicsSolver::DynamicsSolver(
    const robot_model::RobotModelConstPtr &robot_model,
    const std::string &group_name,
    const geometry_msgs::Vector3 &gravity_vector 
)

ubantu 18.04 Melodic

Thanks in advance

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Comments

I'm not familiar with the package, but I would say, it might be to compute the Torque due to gravity. See (lines 298-304) here.

praskot gravatar image praskot  ( 2020-08-25 03:26:05 -0600 )edit
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