Function reach_ros::evaluation::calculateCharacteristicLength

• Defined in File manipulability_moveit.h

Function Documentation

double reach_ros::evaluation::calculateCharacteristicLength(moveit::core::RobotModelConstPtr model, const moveit::core::JointModelGroup *jmg, const std::vector<std::string> &excluded_links)

Computes the characteristic length of the joint model group by walking from the base link of the group to the tip link and summing distances between links.