pilz_industrial_motion_planner::CartesianLimit Class Reference

Set of cartesian limits, has values for velocity, acceleration and deceleration of both the translational and rotational part. More...

#include <cartesian_limit.h>

Public Member Functions
	CartesianLimit ()
bool	hasMaxTranslationalVelocity () const
	Check if translational velocity limit is set. More...
void	setMaxTranslationalVelocity (double max_trans_vel)
	Set the maximal translational velocity. More...
double	getMaxTranslationalVelocity () const
	Return the maximal translational velocity [m/s], 0 if nothing was set. More...
bool	hasMaxTranslationalAcceleration () const
	Check if translational acceleration limit is set. More...
void	setMaxTranslationalAcceleration (double max_trans_acc)
	Set the maximum translational acceleration. More...
double	getMaxTranslationalAcceleration () const
	Return the maximal translational acceleration [m/s^2], 0 if nothing was set. More...
bool	hasMaxTranslationalDeceleration () const
	Check if translational deceleration limit is set. More...
void	setMaxTranslationalDeceleration (double max_trans_dec)
	Set the maximum translational deceleration. More...
double	getMaxTranslationalDeceleration () const
	Return the maximal translational deceleration [m/s^2], 0 if nothing was set. More...
bool	hasMaxRotationalVelocity () const
	Check if rotational velocity limit is set. More...
void	setMaxRotationalVelocity (double max_rot_vel)
	Set the maximum rotational velocity. More...
double	getMaxRotationalVelocity () const
	Return the maximal rotational velocity [rad/s], 0 if nothing was set. More...

Detailed Description

Set of cartesian limits, has values for velocity, acceleration and deceleration of both the translational and rotational part.

Definition at line 44 of file cartesian_limit.h.

Constructor & Destructor Documentation

CartesianLimit()

pilz_industrial_motion_planner::CartesianLimit::CartesianLimit

(

)

Definition at line 37 of file cartesian_limit.cpp.

Member Function Documentation

getMaxRotationalVelocity()

double pilz_industrial_motion_planner::CartesianLimit::getMaxRotationalVelocity

(

)

const

Return the maximal rotational velocity [rad/s], 0 if nothing was set.

Returns

maximal rotational velocity, 0 if nothing was set

Definition at line 116 of file cartesian_limit.cpp.

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getMaxTranslationalAcceleration()

double pilz_industrial_motion_planner::CartesianLimit::getMaxTranslationalAcceleration

(

)

const

Return the maximal translational acceleration [m/s^2], 0 if nothing was set.

Returns

maximal translational acceleration, 0 if nothing was set

Definition at line 80 of file cartesian_limit.cpp.

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getMaxTranslationalDeceleration()

double pilz_industrial_motion_planner::CartesianLimit::getMaxTranslationalDeceleration

(

)

const

Return the maximal translational deceleration [m/s^2], 0 if nothing was set.

Returns

maximal translational deceleration, 0 if nothing was set, always <=0 [m/s^2]

Definition at line 98 of file cartesian_limit.cpp.

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getMaxTranslationalVelocity()

double pilz_industrial_motion_planner::CartesianLimit::getMaxTranslationalVelocity

(

)

const

Return the maximal translational velocity [m/s], 0 if nothing was set.

Returns

Maximum translational velocity, 0 if nothing was set

Definition at line 62 of file cartesian_limit.cpp.

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hasMaxRotationalVelocity()

bool pilz_industrial_motion_planner::CartesianLimit::hasMaxRotationalVelocity

(

)

const

Check if rotational velocity limit is set.

Returns

True if limit was set false otherwise

Definition at line 105 of file cartesian_limit.cpp.

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hasMaxTranslationalAcceleration()

bool pilz_industrial_motion_planner::CartesianLimit::hasMaxTranslationalAcceleration

(

)

const

Check if translational acceleration limit is set.

Returns

True if limit was set false otherwise

Definition at line 69 of file cartesian_limit.cpp.

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hasMaxTranslationalDeceleration()

bool pilz_industrial_motion_planner::CartesianLimit::hasMaxTranslationalDeceleration

(

)

const

Check if translational deceleration limit is set.

Returns

True if limit was set false otherwise

Definition at line 87 of file cartesian_limit.cpp.

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hasMaxTranslationalVelocity()

bool pilz_industrial_motion_planner::CartesianLimit::hasMaxTranslationalVelocity

(

)

const

Check if translational velocity limit is set.

Returns

True if limit was set, false otherwise

Definition at line 51 of file cartesian_limit.cpp.

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setMaxRotationalVelocity()

void pilz_industrial_motion_planner::CartesianLimit::setMaxRotationalVelocity

(

double

max_rot_vel

)

Set the maximum rotational velocity.

Parameters

Maximum

rotational velocity [rad/s]

Definition at line 110 of file cartesian_limit.cpp.

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setMaxTranslationalAcceleration()

void pilz_industrial_motion_planner::CartesianLimit::setMaxTranslationalAcceleration

(

double

max_trans_acc

)

Set the maximum translational acceleration.

Parameters

Maximum

translational acceleration [m/s^2]

Definition at line 74 of file cartesian_limit.cpp.

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setMaxTranslationalDeceleration()

void pilz_industrial_motion_planner::CartesianLimit::setMaxTranslationalDeceleration

(

double

max_trans_dec

)

Set the maximum translational deceleration.

Parameters

Maximum

translational deceleration, always <=0 [m/s^2]

Definition at line 92 of file cartesian_limit.cpp.

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setMaxTranslationalVelocity()

void pilz_industrial_motion_planner::CartesianLimit::setMaxTranslationalVelocity

(

double

max_trans_vel

)

Set the maximal translational velocity.

Parameters

Maximum

translational velocity [m/s]

Definition at line 56 of file cartesian_limit.cpp.

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The documentation for this class was generated from the following files:

• moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/cartesian_limit.h
• moveit_planners/pilz_industrial_motion_planner/src/cartesian_limit.cpp