Trajectory Class Reference

#include <time_optimal_trajectory_generation.hpp>

Public Member Functions
double	getDuration () const
	Returns the optimal duration of the trajectory.
Eigen::VectorXd	getPosition (double time) const
	Return the position/configuration vector for a given point in time.
Eigen::VectorXd	getVelocity (double time) const
	Return the velocity vector for a given point in time.
Eigen::VectorXd	getAcceleration (double time) const
	Return the acceleration vector for a given point in time.

Static Public Member Functions
static std::optional< Trajectory >	create (const Path &path, const Eigen::VectorXd &max_velocity, const Eigen::VectorXd &max_acceleration, double time_step=0.001)
	Generates a time-optimal trajectory.

Detailed Description

Definition at line 124 of file time_optimal_trajectory_generation.hpp.

Member Function Documentation

create()

std::optional< Trajectory > trajectory_processing::Trajectory::create ( const Path & path, const Eigen::VectorXd & max_velocity, const Eigen::VectorXd & max_acceleration, double time_step = 0.001 )

static

Generates a time-optimal trajectory.

Returns

std::nullopt if the trajectory couldn't be parameterized.

Definition at line 358 of file time_optimal_trajectory_generation.cpp.

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getAcceleration()

Eigen::VectorXd trajectory_processing::Trajectory::getAcceleration

(

double

time

)

const

Return the acceleration vector for a given point in time.

Definition at line 898 of file time_optimal_trajectory_generation.cpp.

getDuration()

double trajectory_processing::Trajectory::getDuration

(

)

const

Returns the optimal duration of the trajectory.

Definition at line 836 of file time_optimal_trajectory_generation.cpp.

getPosition()

Eigen::VectorXd trajectory_processing::Trajectory::getPosition

(

double

time

)

const

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

Definition at line 864 of file time_optimal_trajectory_generation.cpp.

getVelocity()

Eigen::VectorXd trajectory_processing::Trajectory::getVelocity

(

double

time

)

const

Return the velocity vector for a given point in time.

Definition at line 881 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