Hello guys,
I was wondering if it is possible to execute a trajectory backwards in MoveIt!. So, for example, let's say that I have a manipulator and I want to go from point 1 to point 2 and MoveIt! calculates a plan for a trajectory with 5 waypoints. When the trajectory is executed, the manipulator goes to the first waypoint, then to the second, and so on until it reaches the 5th waypoint.
If I want to go from point 2 to point 1 right after I reach point 2, I shouldn't necessarily have to calculate a new trajectory again, right? I should simply have use the trajectory calculated from point1 to point 2 and go from waypoint 5 to waypoint 4 till I reach waypoint 1, right? So, is there any way to reuse the first trajectory calculated in order to follow its path backwards?
Thanks in advance!
Best regards,
José Brito
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