default_planning_response_adapters::AddRuckigTrajectorySmoothing Class Reference

Use ruckig (https://github.com/pantor/ruckig) to adapt the trajectory to be jerk-constrained and time-optimal. More...

Inheritance diagram for default_planning_response_adapters::AddRuckigTrajectorySmoothing:

Collaboration diagram for default_planning_response_adapters::AddRuckigTrajectorySmoothing:

Public Member Functions
	AddRuckigTrajectorySmoothing ()
	~AddRuckigTrajectorySmoothing () override=default
std::string	getDescription () const override
	Get a description of this adapter.
void	adapt (const planning_scene::PlanningSceneConstPtr &, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res) const override
	Adapt the planning response.
Public Member Functions inherited from planning_interface::PlanningResponseAdapter
virtual	~PlanningResponseAdapter ()=default
virtual void	initialize (const rclcpp::Node::SharedPtr &node, const std::string &parameter_namespace)
	Initialize parameters using the passed Node and parameter namespace.

Detailed Description

Use ruckig (https://github.com/pantor/ruckig) to adapt the trajectory to be jerk-constrained and time-optimal.

Definition at line 52 of file add_ruckig_traj_smoothing.cpp.

Constructor & Destructor Documentation

AddRuckigTrajectorySmoothing()

default_planning_response_adapters::AddRuckigTrajectorySmoothing::AddRuckigTrajectorySmoothing ( )

inline

Definition at line 55 of file add_ruckig_traj_smoothing.cpp.

~AddRuckigTrajectorySmoothing()

default_planning_response_adapters::AddRuckigTrajectorySmoothing::~AddRuckigTrajectorySmoothing ( )

overridedefault

Member Function Documentation

adapt()

void default_planning_response_adapters::AddRuckigTrajectorySmoothing::adapt ( const planning_scene::PlanningSceneConstPtr &  planning_scene, const planning_interface::MotionPlanRequest &  req, planning_interface::MotionPlanResponse &  res  ) const

inlineoverridevirtual

Adapt the planning response.

Parameters

planning_scene	Representation of the environment for the planning
req	Motion planning request with a set of constraints
res	Motion planning response containing the solution that is adapted.

Implements planning_interface::PlanningResponseAdapter.

Definition at line 66 of file add_ruckig_traj_smoothing.cpp.

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getDescription()

std::string default_planning_response_adapters::AddRuckigTrajectorySmoothing::getDescription ( ) const

inlineoverridevirtual

Get a description of this adapter.

Returns

Returns a short string that identifies the planning response adapter

Implements planning_interface::PlanningResponseAdapter.

Definition at line 61 of file add_ruckig_traj_smoothing.cpp.

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The documentation for this class was generated from the following file:

• moveit_ros/planning/planning_response_adapter_plugins/src/add_ruckig_traj_smoothing.cpp