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I want to use TrajOpt in my project and have some questions.
I would like to know how I can add constraints, such as joint velocity and Cartesian velocity, to my plan profile.
I noticed the createJointVelocityConstraint function in trajopt_ifopt_utils.h, but I couldn't find any examples demonstrating how to set a joint velocity constraint using createJointVelocityConstraint.
Additionally, I couldn't find any function in trajopt_ifopt_utils.h to set Cartesian velocity constraints. Is there no option to set Cartesian velocity constraints in TrajOpt?
Thank you.
The text was updated successfully, but these errors were encountered:
Hello,
I want to use TrajOpt in my project and have some questions.
I would like to know how I can add constraints, such as joint velocity and Cartesian velocity, to my plan profile.
I noticed the
createJointVelocityConstraint
function intrajopt_ifopt_utils.h
, but I couldn't find any examples demonstrating how to set a joint velocity constraint usingcreateJointVelocityConstraint
.Additionally, I couldn't find any function in
trajopt_ifopt_utils.h
to set Cartesian velocity constraints. Is there no option to set Cartesian velocity constraints in TrajOpt?Thank you.
The text was updated successfully, but these errors were encountered: