This class implements a polyline trajectory generator in Cartesian space. The Cartesian trajetory are based on trapezoid velocity profile. More...

Inheritance diagram for pilz_industrial_motion_planner::TrajectoryGeneratorPolyline:

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Collaboration diagram for pilz_industrial_motion_planner::TrajectoryGeneratorPolyline:

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Public Member Functions
	TrajectoryGeneratorPolyline (const moveit::core::RobotModelConstPtr &robot_model, const pilz_industrial_motion_planner::LimitsContainer &planner_limits, const std::string &group_name)
	Constructor of Polyline Trajectory Generator.
Public Member Functions inherited from pilz_industrial_motion_planner::TrajectoryGenerator
	TrajectoryGenerator (const moveit::core::RobotModelConstPtr &robot_model, const pilz_industrial_motion_planner::LimitsContainer &planner_limits)
virtual	~TrajectoryGenerator ()=default
void	generate (const planning_scene::PlanningSceneConstPtr &scene, const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res, double sampling_time=0.1)
	generate robot trajectory with given sampling time

Additional Inherited Members
Protected Member Functions inherited from pilz_industrial_motion_planner::TrajectoryGenerator
std::unique_ptr< KDL::VelocityProfile >	cartesianTrapVelocityProfile (double max_velocity_scaling_factor, double max_acceleration_scaling_factor, const std::unique_ptr< KDL::Path > &path) const
	build cartesian velocity profile for the path
void	setMaxCartesianSpeed (const moveit_msgs::msg::MotionPlanRequest &req)
	Set the max cartesian speed from motion request.
Protected Attributes inherited from pilz_industrial_motion_planner::TrajectoryGenerator
const moveit::core::RobotModelConstPtr	robot_model_
const pilz_industrial_motion_planner::LimitsContainer	planner_limits_
double	max_cartesian_speed_
const std::unique_ptr< rclcpp::Clock >	clock_
Static Protected Attributes inherited from pilz_industrial_motion_planner::TrajectoryGenerator
static constexpr double	MIN_SCALING_FACTOR { 0.0001 }
static constexpr double	MAX_SCALING_FACTOR { 1. }
static constexpr double	VELOCITY_TOLERANCE { 1e-8 }

Detailed Description

This class implements a polyline trajectory generator in Cartesian space. The Cartesian trajetory are based on trapezoid velocity profile.

Constructor & Destructor Documentation

pilz_industrial_motion_planner::TrajectoryGeneratorPolyline::TrajectoryGeneratorPolyline	(	const moveit::core::RobotModelConstPtr &	robot_model,
		const pilz_industrial_motion_planner::LimitsContainer &	planner_limits,
		const std::string &	group_name )

Constructor of Polyline Trajectory Generator.

Exceptions

TrajectoryGeneratorInvalidLimitsException

Parameters

model	robot model
planner_limits	limits in joint and Cartesian spaces

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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_generator_polyline.hpp
moveit_planners/pilz_industrial_motion_planner/src/trajectory_generator_polyline.cpp