trajectory_processing::TimeParameterization Class Reference

#include <time_parameterization.h>

Inheritance diagram for trajectory_processing::TimeParameterization:

Public Member Functions
	TimeParameterization ()=default
	TimeParameterization (const TimeParameterization &)=default
	TimeParameterization (TimeParameterization &&)=default
TimeParameterization &	operator= (const TimeParameterization &)=default
TimeParameterization &	operator= (TimeParameterization &&)=default
virtual	~TimeParameterization ()=default
virtual bool	computeTimeStamps (robot_trajectory::RobotTrajectory &trajectory, const double max_velocity_scaling_factor=1.0, const double max_acceleration_scaling_factor=1.0) const =0
	Compute a trajectory with waypoints spaced equally in time.
virtual 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 =0
	Compute a trajectory with waypoints spaced equally in time.
virtual 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 =0
	Compute a trajectory with waypoints spaced equally in time.

Detailed Description

Definition at line 11 of file time_parameterization.h.

Constructor & Destructor Documentation

TimeParameterization() [1/3]

trajectory_processing::TimeParameterization::TimeParameterization ( )

default

TimeParameterization() [2/3]

trajectory_processing::TimeParameterization::TimeParameterization ( const TimeParameterization &  )

default

TimeParameterization() [3/3]

trajectory_processing::TimeParameterization::TimeParameterization ( TimeParameterization &&  )

default

~TimeParameterization()

virtual trajectory_processing::TimeParameterization::~TimeParameterization ( )

virtualdefault

Member Function Documentation

computeTimeStamps() [1/3]

virtual bool trajectory_processing::TimeParameterization::computeTimeStamps ( robot_trajectory::RobotTrajectory &  trajectory, const double  max_velocity_scaling_factor = 1.0, const double  max_acceleration_scaling_factor = 1.0  ) const

pure virtual

Compute a trajectory with waypoints spaced equally in time.

Parameters

[in,out]	trajectory	A path which needs time-parameterization. It's OK if this path has already been time-parameterized; this function will re-time-parameterize 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.

Implemented in trajectory_processing::TimeOptimalTrajectoryGeneration.

computeTimeStamps() [2/3]

virtual bool trajectory_processing::TimeParameterization::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

pure virtual

Compute a trajectory with waypoints spaced equally in time.

Parameters

[in,out]	trajectory	A path which needs time-parameterization. It's OK if this path has already been time-parameterized; this function will re-time-parameterize 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.

Implemented in trajectory_processing::TimeOptimalTrajectoryGeneration.

computeTimeStamps() [3/3]

virtual bool trajectory_processing::TimeParameterization::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

pure virtual

Compute a trajectory with waypoints spaced equally in time.

Parameters

[in,out]	trajectory	A path which needs time-parameterization. It's OK if this path has already been time-parameterized; this function will re-time-parameterize 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.

Implemented in trajectory_processing::TimeOptimalTrajectoryGeneration.

operator=() [1/2]

TimeParameterization & trajectory_processing::TimeParameterization::operator= ( const TimeParameterization &  )

default

operator=() [2/2]

TimeParameterization & trajectory_processing::TimeParameterization::operator= ( TimeParameterization &&  )

default

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

• moveit_core/trajectory_processing/include/moveit/trajectory_processing/time_parameterization.h