Trajectory blender implementing transition window algorithm. More...

Inheritance diagram for pilz_industrial_motion_planner::TrajectoryBlenderTransitionWindow:

Collaboration diagram for pilz_industrial_motion_planner::TrajectoryBlenderTransitionWindow:

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Public Member Functions
	TrajectoryBlenderTransitionWindow (const LimitsContainer &planner_limits)

	~TrajectoryBlenderTransitionWindow () override

bool	blend (const planning_scene::PlanningSceneConstPtr &planning_scene, const pilz_industrial_motion_planner::TrajectoryBlendRequest &req, pilz_industrial_motion_planner::TrajectoryBlendResponse &res) override
	Blend two trajectories using transition window. The trajectories have to be equally and uniformly discretized.

Public Member Functions inherited from pilz_industrial_motion_planner::TrajectoryBlender
	TrajectoryBlender (const pilz_industrial_motion_planner::LimitsContainer &planner_limits)

virtual	~TrajectoryBlender ()

Additional Inherited Members
Protected Attributes inherited from pilz_industrial_motion_planner::TrajectoryBlender
const pilz_industrial_motion_planner::LimitsContainer	limits_

Detailed Description

Trajectory blender implementing transition window algorithm.

See doc/MotionBlendAlgorithmDescription.pdf for a mathematical description of the algorithm.

Constructor & Destructor Documentation

pilz_industrial_motion_planner::TrajectoryBlenderTransitionWindow::TrajectoryBlenderTransitionWindow ( const LimitsContainer & planner_limits )

inline

pilz_industrial_motion_planner::TrajectoryBlenderTransitionWindow::~TrajectoryBlenderTransitionWindow ( )

inlineoverride

bool pilz_industrial_motion_planner::TrajectoryBlenderTransitionWindow::blend	(	const planning_scene::PlanningSceneConstPtr &	planning_scene,
		const pilz_industrial_motion_planner::TrajectoryBlendRequest &	req,
		pilz_industrial_motion_planner::TrajectoryBlendResponse &	res
	)

overridevirtual

Blend two trajectories using transition window. The trajectories have to be equally and uniformly discretized.

Parameters

planning_scene	The scene planning is occurring in.
req	following fields need to be filled for a valid request: group_name : name of the planning group link_name : name of the target link first_trajectory: Joint trajectory stops at end point. The last point must be the same as the first point of the second trajectory. second trajectory: Joint trajectory stops at end point. The first point must be the same as the last point of the first trajectory. blend_radius: The blend radius determines a sphere with the intersection point of the two trajectories as the center. Trajectory blending happens inside of this sphere.
res	following fields are returned as response by the blend algorithm group_name : name of the planning group first_trajectory: Part of the first original trajectory which is outside of the blend sphere. blend_trajectory: Joint trajectory connecting the first and second trajectories without stop. The first waypoint has non-zero time from start. second trajectory: Part of the second original trajectory which is outside of the blend sphere. The first waypoint has non-zero time from start. error_code: information of failed blend

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

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