Generator class for KDL::Path_Circle from different circle representations. More...

Static Public Member Functions
static std::unique_ptr< KDL::Path >	circleFromCenter (const KDL::Frame &start_pose, const KDL::Frame &goal_pose, const KDL::Vector &center_point, double eqradius)
	set the path circle from start, goal and center point

static std::unique_ptr< KDL::Path >	circleFromInterim (const KDL::Frame &start_pose, const KDL::Frame &goal_pose, const KDL::Vector &interim_point, double eqradius)
	set circle from start, goal and interim point

Detailed Description

Generator class for KDL::Path_Circle from different circle representations.

Definition at line 50 of file path_circle_generator.h.

Member Function Documentation

std::unique_ptr< KDL::Path > pilz_industrial_motion_planner::PathCircleGenerator::circleFromCenter	(	const KDL::Frame &	start_pose,
		const KDL::Frame &	goal_pose,
		const KDL::Vector &	center_point,
		double	eqradius
	)

static

set the path circle from start, goal and center point

Note that a half circle should use interim point and cannot be defined by circle center since start/goal/center points are colinear.

Exceptions

KDL::Error_MotionPlanning in case start and goal have different radii to the center point.

Definition at line 39 of file path_circle_generator.cpp.

std::unique_ptr< KDL::Path > pilz_industrial_motion_planner::PathCircleGenerator::circleFromInterim	(	const KDL::Frame &	start_pose,
		const KDL::Frame &	goal_pose,
		const KDL::Vector &	interim_point,
		double	eqradius
	)

static

set circle from start, goal and interim point

Exceptions

KDL::Error_MotionPlanning if the given points are colinear.

Definition at line 73 of file path_circle_generator.cpp.

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

moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/path_circle_generator.h
moveit_planners/pilz_industrial_motion_planner/src/path_circle_generator.cpp