The MoveIt Motion Planning Framework for ROS 2.
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robot_trajectory.h File Reference
#include <moveit/macros/class_forward.h>
#include <moveit/robot_state/robot_state.h>
#include <moveit_msgs/msg/robot_trajectory.hpp>
#include <moveit_msgs/msg/robot_state.hpp>
#include <deque>
#include <memory>
#include <optional>
#include <rcl/error_handling.h>
#include <rcl/time.h>
#include <rclcpp/clock.hpp>
#include <rclcpp/rclcpp.hpp>
#include <rclcpp/time.hpp>
#include <rclcpp/utilities.hpp>
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class  robot_trajectory::RobotTrajectory
 Maintain a sequence of waypoints and the time durations between these waypoints. More...
class  robot_trajectory::RobotTrajectory::Iterator




 robot_trajectory::MOVEIT_CLASS_FORWARD (RobotTrajectory)
std::ostream & robot_trajectory::operator<< (std::ostream &out, const RobotTrajectory &trajectory)
 Operator overload for printing trajectory to a stream. More...
double robot_trajectory::path_length (RobotTrajectory const &trajectory)
 Calculate the path length of a given trajectory based on the accumulated robot state distances. The distance between two robot states is calculated based on the sum of active joint distances between the two states (L1 norm). More...
std::optional< double > robot_trajectory::smoothness (RobotTrajectory const &trajectory)
 Calculate the smoothness of a given trajectory. More...
std::optional< double > robot_trajectory::waypoint_density (RobotTrajectory const &trajectory)
 Calculate the waypoint density of a trajectory. More...