trajectory_processing::Trajectory Class Reference

#include <time_optimal_trajectory_generation.h>

Public Member Functions
	Trajectory (const Path &path, const Eigen::VectorXd &max_velocity, const Eigen::VectorXd &max_acceleration, double time_step=0.001)
	Generates a time-optimal trajectory. More...
	~Trajectory ()
bool	isValid () const
	Call this method after constructing the object to make sure the trajectory generation succeeded without errors. If this method returns false, all other methods have undefined behavior. More...
double	getDuration () const
	Returns the optimal duration of the trajectory. More...
Eigen::VectorXd	getPosition (double time) const
	Return the position/configuration vector for a given point in time. More...
Eigen::VectorXd	getVelocity (double time) const
	Return the velocity vector for a given point in time. More...
Eigen::VectorXd	getAcceleration (double time) const
	Return the acceleration vector for a given point in time. More...

Detailed Description

Definition at line 92 of file time_optimal_trajectory_generation.h.

Constructor & Destructor Documentation

Trajectory()

trajectory_processing::Trajectory::Trajectory	(	const Path &	path,
		const Eigen::VectorXd &	max_velocity,
		const Eigen::VectorXd &	max_acceleration,
		double	time_step = 0.001
	)

Generates a time-optimal trajectory.

Definition at line 317 of file time_optimal_trajectory_generation.cpp.

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~Trajectory()

trajectory_processing::Trajectory::~Trajectory

(

)

Definition at line 369 of file time_optimal_trajectory_generation.cpp.

Member Function Documentation

getAcceleration()

Eigen::VectorXd trajectory_processing::Trajectory::getAcceleration

(

double

time

)

const

Return the acceleration vector for a given point in time.

Definition at line 857 of file time_optimal_trajectory_generation.cpp.

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getDuration()

double trajectory_processing::Trajectory::getDuration

(

)

const

Returns the optimal duration of the trajectory.

Definition at line 794 of file time_optimal_trajectory_generation.cpp.

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getPosition()

Eigen::VectorXd trajectory_processing::Trajectory::getPosition

(

double

time

)

const

Return the position/configuration vector for a given point in time.

Definition at line 822 of file time_optimal_trajectory_generation.cpp.

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getVelocity()

Eigen::VectorXd trajectory_processing::Trajectory::getVelocity

(

double

time

)

const

Return the velocity vector for a given point in time.

Definition at line 839 of file time_optimal_trajectory_generation.cpp.

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isValid()

bool trajectory_processing::Trajectory::isValid

(

)

const

Call this method after constructing the object to make sure the trajectory generation succeeded without errors. If this method returns false, all other methods have undefined behavior.

Definition at line 789 of file time_optimal_trajectory_generation.cpp.

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

• moveit_core/trajectory_processing/include/moveit/trajectory_processing/time_optimal_trajectory_generation.h
• moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp