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The MoveIt Motion Planning Framework for ROS 2.
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pilz_industrial_motion_planner::TrajectoryGeneratorPTP Class Reference

This class implements a point-to-point trajectory generator based on VelocityProfileATrap. More...

#include <trajectory_generator_ptp.h>

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Public Member Functions

 TrajectoryGeneratorPTP (const moveit::core::RobotModelConstPtr &robot_model, const pilz_industrial_motion_planner::LimitsContainer &planner_limits, const std::string &group_name)
 Constructor of PTP Trajectory Generator. More...
 
- Public Member Functions inherited from pilz_industrial_motion_planner::TrajectoryGenerator
 TrajectoryGenerator (const moveit::core::RobotModelConstPtr &robot_model, const pilz_industrial_motion_planner::LimitsContainer &planner_limits)
 
virtual ~TrajectoryGenerator ()=default
 
bool generate (const planning_scene::PlanningSceneConstPtr &scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res, double sampling_time=0.1)
 generate robot trajectory with given sampling time More...
 

Additional Inherited Members

- Protected Member Functions inherited from pilz_industrial_motion_planner::TrajectoryGenerator
std::unique_ptr< KDL::VelocityProfile > cartesianTrapVelocityProfile (const double &max_velocity_scaling_factor, const double &max_acceleration_scaling_factor, const std::unique_ptr< KDL::Path > &path) const
 build cartesian velocity profile for the path More...
 
- Protected Attributes inherited from pilz_industrial_motion_planner::TrajectoryGenerator
const moveit::core::RobotModelConstPtr robot_model_
 
const pilz_industrial_motion_planner::LimitsContainer planner_limits_
 
const std::unique_ptr< rclcpp::Clock > clock_
 
- Static Protected Attributes inherited from pilz_industrial_motion_planner::TrajectoryGenerator
static constexpr double MIN_SCALING_FACTOR { 0.0001 }
 
static constexpr double MAX_SCALING_FACTOR { 1. }
 
static constexpr double VELOCITY_TOLERANCE { 1e-8 }
 

Detailed Description

This class implements a point-to-point trajectory generator based on VelocityProfileATrap.

Definition at line 55 of file trajectory_generator_ptp.h.

Constructor & Destructor Documentation

◆ TrajectoryGeneratorPTP()

pilz_industrial_motion_planner::TrajectoryGeneratorPTP::TrajectoryGeneratorPTP ( const moveit::core::RobotModelConstPtr &  robot_model,
const pilz_industrial_motion_planner::LimitsContainer planner_limits,
const std::string &  group_name 
)

Constructor of PTP Trajectory Generator.

Exceptions
TrajectoryGeneratorInvalidLimitsException
Parameters
modela map of joint limits information

Definition at line 51 of file trajectory_generator_ptp.cpp.

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