moveit2
The MoveIt Motion Planning Framework for ROS 2.
trajectory_generator_lin.h
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34 
35 #pragma once
36 
37 #include <eigen3/Eigen/Eigen>
38 #include <kdl/rotational_interpolation_sa.hpp>
40 
43 
45 {
46 // TODO date type of units
47 
48 CREATE_MOVEIT_ERROR_CODE_EXCEPTION(LinTrajectoryConversionFailure, moveit_msgs::msg::MoveItErrorCodes::FAILURE);
49 
50 CREATE_MOVEIT_ERROR_CODE_EXCEPTION(JointNumberMismatch, moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
51 CREATE_MOVEIT_ERROR_CODE_EXCEPTION(LinJointMissingInStartState, moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE);
52 CREATE_MOVEIT_ERROR_CODE_EXCEPTION(LinInverseForGoalIncalculable, moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION);
53 
60 {
61 public:
68  TrajectoryGeneratorLIN(const moveit::core::RobotModelConstPtr& robot_model,
70  const std::string& group_name);
71 
72 private:
73  void extractMotionPlanInfo(const planning_scene::PlanningSceneConstPtr& scene,
74  const planning_interface::MotionPlanRequest& req, MotionPlanInfo& info) const final;
75 
76  void plan(const planning_scene::PlanningSceneConstPtr& scene, const planning_interface::MotionPlanRequest& req,
77  const MotionPlanInfo& plan_info, const double& sampling_time,
78  trajectory_msgs::msg::JointTrajectory& joint_trajectory) override;
79 
84  std::unique_ptr<KDL::Path> setPathLIN(const Eigen::Affine3d& start_pose, const Eigen::Affine3d& goal_pose) const;
85 };
86 
87 } // namespace pilz_industrial_motion_planner
This class combines CartesianLimit and JointLimits into on single class.
This class implements a linear trajectory generator in Cartesian space. The Cartesian trajetory are b...
TrajectoryGeneratorLIN(const moveit::core::RobotModelConstPtr &robot_model, const pilz_industrial_motion_planner::LimitsContainer &planner_limits, const std::string &group_name)
Constructor of LIN Trajectory Generator.
This class is used to extract needed information from motion plan request.
scene
Definition: pick.py:52
CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NegativeBlendRadiusException, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN)
Definition: plan.py:1
moveit_msgs::msg::MotionPlanRequest MotionPlanRequest