moveit2
The MoveIt Motion Planning Framework for ROS 2.
Loading...
Searching...
No Matches
Static Public Member Functions | List of all members
pilz_industrial_motion_planner::PathCircleGenerator Class Reference

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

#include <path_circle_generator.h>

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

◆ circleFromCenter()

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_MotionPlanningin case start and goal have different radii to the center point.

Definition at line 39 of file path_circle_generator.cpp.

◆ circleFromInterim()

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_MotionPlanningif 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: