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The MoveIt Motion Planning Framework for ROS 2.
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Public Member Functions | Protected Attributes | List of all members
pilz_industrial_motion_planner::TrajectoryBlender Class Referenceabstract

Base class of trajectory blenders. More...

#include <trajectory_blender.h>

Inheritance diagram for pilz_industrial_motion_planner::TrajectoryBlender:
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Collaboration diagram for pilz_industrial_motion_planner::TrajectoryBlender:
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Public Member Functions

 TrajectoryBlender (const pilz_industrial_motion_planner::LimitsContainer &planner_limits)
 
virtual ~TrajectoryBlender ()
 
virtual bool blend (const planning_scene::PlanningSceneConstPtr &planning_scene, const pilz_industrial_motion_planner::TrajectoryBlendRequest &req, pilz_industrial_motion_planner::TrajectoryBlendResponse &res)=0
 Blend two robot trajectories with the given blending radius.
 

Protected Attributes

const pilz_industrial_motion_planner::LimitsContainer limits_
 

Detailed Description

Base class of trajectory blenders.

Definition at line 49 of file trajectory_blender.h.

Constructor & Destructor Documentation

◆ TrajectoryBlender()

pilz_industrial_motion_planner::TrajectoryBlender::TrajectoryBlender ( const pilz_industrial_motion_planner::LimitsContainer planner_limits)
inline

Definition at line 52 of file trajectory_blender.h.

◆ ~TrajectoryBlender()

virtual pilz_industrial_motion_planner::TrajectoryBlender::~TrajectoryBlender ( )
inlinevirtual

Definition at line 56 of file trajectory_blender.h.

Member Function Documentation

◆ blend()

virtual bool pilz_industrial_motion_planner::TrajectoryBlender::blend ( const planning_scene::PlanningSceneConstPtr &  planning_scene,
const pilz_industrial_motion_planner::TrajectoryBlendRequest req,
pilz_industrial_motion_planner::TrajectoryBlendResponse res 
)
pure virtual

Blend two robot trajectories with the given blending radius.

Parameters
planning_sceneplanning scene
reqtrajectory blend request
restrajectroy blend response
Returns
true if blend succeed

Implemented in pilz_industrial_motion_planner::TrajectoryBlenderTransitionWindow.

Member Data Documentation

◆ limits_

const pilz_industrial_motion_planner::LimitsContainer pilz_industrial_motion_planner::TrajectoryBlender::limits_
protected

Definition at line 72 of file trajectory_blender.h.


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