moveit2
The MoveIt Motion Planning Framework for ROS 2.

#include <time_optimal_trajectory_generation.h>
Public Member Functions  
TimeOptimalTrajectoryGeneration (const double path_tolerance=DEFAULT_PATH_TOLERANCE, const double resample_dt=0.1, const double min_angle_change=0.001)  
bool  computeTimeStamps (robot_trajectory::RobotTrajectory &trajectory, const double max_velocity_scaling_factor=1.0, const double max_acceleration_scaling_factor=1.0) const override 
Compute a trajectory with waypoints spaced equally in time (according to resample_dt_). Resampling the trajectory doesn't change the start and goal point, and all resampled waypoints will be on the path of the original trajectory (within path_tolerance_). However, controller execution is separate from MoveIt and may deviate from the intended path between waypoints. path_tolerance_ is defined in configuration space, so the unit is rad for revolute joints, meters for prismatic joints. More...  
bool  computeTimeStamps (robot_trajectory::RobotTrajectory &trajectory, const std::unordered_map< std::string, double > &velocity_limits, const std::unordered_map< std::string, double > &acceleration_limits, const double max_velocity_scaling_factor=1.0, const double max_acceleration_scaling_factor=1.0) const override 
Compute a trajectory with waypoints spaced equally in time (according to resample_dt_). Resampling the trajectory doesn't change the start and goal point, and all resampled waypoints will be on the path of the original trajectory (within path_tolerance_). However, controller execution is separate from MoveIt and may deviate from the intended path between waypoints. path_tolerance_ is defined in configuration space, so the unit is rad for revolute joints, meters for prismatic joints. More...  
bool  computeTimeStamps (robot_trajectory::RobotTrajectory &trajectory, const std::vector< moveit_msgs::msg::JointLimits > &joint_limits, const double max_velocity_scaling_factor=1.0, const double max_acceleration_scaling_factor=1.0) const override 
Compute a trajectory with waypoints spaced equally in time (according to resample_dt_). Resampling the trajectory doesn't change the start and goal point, and all resampled waypoints will be on the path of the original trajectory (within path_tolerance_). However, controller execution is separate from MoveIt and may deviate from the intended path between waypoints. path_tolerance_ is defined in configuration space, so the unit is rad for revolute joints, meters for prismatic joints. More...  
Public Member Functions inherited from trajectory_processing::TimeParameterization  
TimeParameterization ()=default  
TimeParameterization (const TimeParameterization &)=default  
TimeParameterization (TimeParameterization &&)=default  
TimeParameterization &  operator= (const TimeParameterization &)=default 
TimeParameterization &  operator= (TimeParameterization &&)=default 
virtual  ~TimeParameterization ()=default 
Definition at line 193 of file time_optimal_trajectory_generation.h.
trajectory_processing::TimeOptimalTrajectoryGeneration::TimeOptimalTrajectoryGeneration  (  const double  path_tolerance = DEFAULT_PATH_TOLERANCE , 
const double  resample_dt = 0.1 , 

const double  min_angle_change = 0.001 

) 
Definition at line 918 of file time_optimal_trajectory_generation.cpp.

overridevirtual 
Compute a trajectory with waypoints spaced equally in time (according to resample_dt_). Resampling the trajectory doesn't change the start and goal point, and all resampled waypoints will be on the path of the original trajectory (within path_tolerance_). However, controller execution is separate from MoveIt and may deviate from the intended path between waypoints. path_tolerance_ is defined in configuration space, so the unit is rad for revolute joints, meters for prismatic joints.
[in,out]  trajectory  A path which needs timeparameterization. It's OK if this path has already been timeparameterized; this function will retimeparameterize it. 
max_velocity_scaling_factor  A factor in the range [0,1] which can slow down the trajectory.  
max_acceleration_scaling_factor  A factor in the range [0,1] which can slow down the trajectory. 
Implements trajectory_processing::TimeParameterization.
Definition at line 924 of file time_optimal_trajectory_generation.cpp.

overridevirtual 
Compute a trajectory with waypoints spaced equally in time (according to resample_dt_). Resampling the trajectory doesn't change the start and goal point, and all resampled waypoints will be on the path of the original trajectory (within path_tolerance_). However, controller execution is separate from MoveIt and may deviate from the intended path between waypoints. path_tolerance_ is defined in configuration space, so the unit is rad for revolute joints, meters for prismatic joints.
[in,out]  trajectory  A path which needs timeparameterization. It's OK if this path has already been timeparameterized; this function will retimeparameterize it. 
velocity_limits  Joint names and velocity limits in rad/s  
acceleration_limits  Joint names and acceleration limits in rad/s^2  
max_velocity_scaling_factor  A factor in the range [0,1] which can slow down the trajectory.  
max_acceleration_scaling_factor  A factor in the range [0,1] which can slow down the trajectory. 
Implements trajectory_processing::TimeParameterization.
Definition at line 1029 of file time_optimal_trajectory_generation.cpp.

overridevirtual 
Compute a trajectory with waypoints spaced equally in time (according to resample_dt_). Resampling the trajectory doesn't change the start and goal point, and all resampled waypoints will be on the path of the original trajectory (within path_tolerance_). However, controller execution is separate from MoveIt and may deviate from the intended path between waypoints. path_tolerance_ is defined in configuration space, so the unit is rad for revolute joints, meters for prismatic joints.
[in,out]  trajectory  A path which needs timeparameterization. It's OK if this path has already been timeparameterized; this function will retimeparameterize it. 
joint_limits  Joint names and corresponding velocity limits in rad/s and acceleration limits in rad/s^2  
max_velocity_scaling_factor  A factor in the range [0,1] which can slow down the trajectory.  
max_acceleration_scaling_factor  A factor in the range [0,1] which can slow down the trajectory. 
Implements trajectory_processing::TimeParameterization.
Definition at line 1006 of file time_optimal_trajectory_generation.cpp.