Path Class Reference

#include <time_optimal_trajectory_generation.hpp>

Public Member Functions
	Path (const Path &path)
double	getLength () const
Eigen::VectorXd	getConfig (double s) const
Eigen::VectorXd	getTangent (double s) const
Eigen::VectorXd	getCurvature (double s) const
double	getNextSwitchingPoint (double s, bool &discontinuity) const
	Get the next switching point.
std::list< std::pair< double, bool > >	getSwitchingPoints () const
	Return a list of all switching points as a pair (arc length to switching point, discontinuity).

Static Public Member Functions
static std::optional< Path >	create (const std::vector< Eigen::VectorXd > &waypoint, double max_deviation=DEFAULT_PATH_TOLERANCE)

Detailed Description

Definition at line 87 of file time_optimal_trajectory_generation.hpp.

Constructor & Destructor Documentation

Path()

trajectory_processing::Path::Path

(

const Path &

path

)

Definition at line 292 of file time_optimal_trajectory_generation.cpp.

Member Function Documentation

create()

std::optional< Path > trajectory_processing::Path::create ( const std::vector< Eigen::VectorXd > & waypoint, double max_deviation = DEFAULT_PATH_TOLERANCE )

static

Definition at line 201 of file time_optimal_trajectory_generation.cpp.

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getConfig()

Eigen::VectorXd trajectory_processing::Path::getConfig

(

double

s

)

const

Definition at line 319 of file time_optimal_trajectory_generation.cpp.

getCurvature()

Eigen::VectorXd trajectory_processing::Path::getCurvature

(

double

s

)

const

Definition at line 331 of file time_optimal_trajectory_generation.cpp.

getLength()

double trajectory_processing::Path::getLength

(

)

const

Definition at line 300 of file time_optimal_trajectory_generation.cpp.

getNextSwitchingPoint()

double trajectory_processing::Path::getNextSwitchingPoint	(	double	s,
		bool &	discontinuity ) const

Get the next switching point.

Parameters

[in]	s	Arc length traveled so far
[out]	discontinuity	True if this switching point is a discontinuity

Returns

arc length to the switching point

Definition at line 337 of file time_optimal_trajectory_generation.cpp.

getSwitchingPoints()

std::list< std::pair< double, bool > > trajectory_processing::Path::getSwitchingPoints

(

)

const

Return a list of all switching points as a pair (arc length to switching point, discontinuity).

Definition at line 353 of file time_optimal_trajectory_generation.cpp.

getTangent()

Eigen::VectorXd trajectory_processing::Path::getTangent

(

double

s

)

const

Definition at line 325 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.hpp
• moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp