pilz_industrial_motion_planner::PathPolylineGenerator Class Reference

Generator class for KDL::Path_RoundedComposite from different polyline path representations. More...

#include <path_polyline_generator.hpp>

Static Public Member Functions
static std::unique_ptr< KDL::Path >	polylineFromWaypoints (const KDL::Frame &start_pose, const std::vector< KDL::Frame > &waypoints, KDL::RotationalInterpolation *rot_interpo, double smoothness, double eqradius)
	set the path polyline from waypoints
static std::vector< KDL::Frame >	filterWaypoints (const KDL::Frame &start_pose, const std::vector< KDL::Frame > &waypoints)
	compute the maximum rounding radius from KDL::Path_RoundedComosite
static double	computeBlendRadius (const std::vector< KDL::Frame > &waypoints_, double smoothness)
static void	checkConsecutiveColinearWaypoints (const KDL::Frame &p1, const KDL::Frame &p2, const KDL::Frame &p3)

Detailed Description

Generator class for KDL::Path_RoundedComposite from different polyline path representations.

Definition at line 51 of file path_polyline_generator.hpp.

Member Function Documentation

checkConsecutiveColinearWaypoints()

void pilz_industrial_motion_planner::PathPolylineGenerator::checkConsecutiveColinearWaypoints ( const KDL::Frame & p1, const KDL::Frame & p2, const KDL::Frame & p3 )

static

Definition at line 132 of file path_polyline_generator.cpp.

Here is the caller graph for this function:

computeBlendRadius()

double pilz_industrial_motion_planner::PathPolylineGenerator::computeBlendRadius ( const std::vector< KDL::Frame > & waypoints_, double smoothness )

static

Definition at line 87 of file path_polyline_generator.cpp.

Here is the call graph for this function:

Here is the caller graph for this function:

filterWaypoints()

std::vector< KDL::Frame > pilz_industrial_motion_planner::PathPolylineGenerator::filterWaypoints ( const KDL::Frame & start_pose, const std::vector< KDL::Frame > & waypoints )

static

compute the maximum rounding radius from KDL::Path_RoundedComosite

Parameters

waypoints_	waypoints defining the path
smoothness	smoothness level [0..1] scaling the maximum blend radius

Returns

maximum blend radius

Definition at line 59 of file path_polyline_generator.cpp.

Here is the caller graph for this function:

polylineFromWaypoints()

std::unique_ptr< KDL::Path > pilz_industrial_motion_planner::PathPolylineGenerator::polylineFromWaypoints ( const KDL::Frame & start_pose, const std::vector< KDL::Frame > & waypoints, KDL::RotationalInterpolation * rot_interpo, double smoothness, double eqradius )

static

set the path polyline from waypoints

Definition at line 40 of file path_polyline_generator.cpp.

Here is the call graph for this function:

---

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

• moveit_planners/pilz_industrial_motion_planner/include/pilz_industrial_motion_planner/path_polyline_generator.hpp
• moveit_planners/pilz_industrial_motion_planner/src/path_polyline_generator.cpp