moveit2
The MoveIt Motion Planning Framework for ROS 2.
Classes | Namespaces | Functions
trajectory_generator_lin.h File Reference
#include <eigen3/Eigen/Eigen>
#include <kdl/rotational_interpolation_sa.hpp>
#include <moveit/planning_scene/planning_scene.h>
#include <pilz_industrial_motion_planner/trajectory_generator.h>
#include <pilz_industrial_motion_planner/velocity_profile_atrap.h>
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Classes

class  pilz_industrial_motion_planner::TrajectoryGeneratorLIN
 This class implements a linear trajectory generator in Cartesian space. The Cartesian trajetory are based on trapezoid velocity profile. More...
 

Namespaces

 pilz_industrial_motion_planner
 

Functions

 pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION (LinTrajectoryConversionFailure, moveit_msgs::msg::MoveItErrorCodes::FAILURE)
 
 pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION (JointNumberMismatch, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS)
 
 pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION (LinJointMissingInStartState, moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE)
 
 pilz_industrial_motion_planner::CREATE_MOVEIT_ERROR_CODE_EXCEPTION (LinInverseForGoalIncalculable, moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION)