move_group.py 文件源码

def plan(self, joints = None):
        """ Return a motion plan (a RobotTrajectory) to the set goal state (or specified by the joints argument) """
        if type(joints) is JointState:
            self.set_joint_value_target(joints)

        elif type(joints) is Pose:
            self.set_pose_target(joints)

        elif not joints == None:
            try:
                self.set_joint_value_target(self.get_remembered_joint_values()[joints])
            except:
                self.set_joint_value_target(joints)
        plan = RobotTrajectory()
        plan.deserialize(self._g.compute_plan())
        return plan