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I'm studying moveit. A trajectory was created through a method called plan, but I couldn't find the process, so I asked a question. thank you

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2 Answers 2

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This should be in the MoveIt GitHub repository. More specifically, you can find it here in the move_group_interface.cpp file. In simple terms, this method prepares the action goal, sends the goal, and handles the result.

The function takes only a reference to the Plan object, and the process does not really tell you what is happening under the hood. For a deeper understanding of how the motion planning request is constructed, look into the constructMotionPlanRequest function too. You can find it here.

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  • $\begingroup$ As far as req, thank you for your attention to detail. $\endgroup$
    – ertretff
    Jan 23 at 11:31
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Without more information to go on with, I'm not sure if you are using C++ or Python. However, the plan function can be found here. In case you are looking for a Python equivalent, AFAIK the MoveIt python variant is a wrapper around the original CPP library, so I'm guessing any call to plan will come down to this function.

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