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marioprats
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| planning_component_->setStateCostFunction( | ||
| [robot_start_state, group_name, planning_scene](const Eigen::VectorXd& state_vector) mutable { | ||
| auto clearance_cost_fn = | ||
| moveit::cost_functions::getMinJointDisplacementCostFn(*robot_start_state, group_name, planning_scene); |
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Related to my comment in moveit/moveit2#2153 (comment), here is where I think you could do:
auto clearance_cost_fn =
std::bind(moveit::cost_functions::computeMinJointDisplacementCostFn(*robot_start_state, group_name, planning_scene, std::placeholders::_1));
The advantage is that cost_functions wouldn't have to depend on the planning interface StateCostFn, and the whole process is more transparent: you have a function that computes a cost, and you bind it here into a StateCostFn.
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This pull request is in conflict. Could you fix it @sjahr? |
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Description
Test code for moveit2#2153 that will evolve into a tutorial once the feature is ready
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