#include <time_optimal_trajectory_generation.h>
Public Member Functions | |
| double | getDuration () const |
| Returns the optimal duration of the trajectory. More... | |
| Eigen::VectorXd | getPosition (double time) const |
| Return the position/configuration vector for a given point in time. More... | |
| Eigen::VectorXd | getVelocity (double time) const |
| Return the velocity vector for a given point in time. More... | |
| Eigen::VectorXd | getAcceleration (double time) const |
| Return the acceleration vector for a given point in time. More... | |
Static Public Member Functions | |
| static std::optional< Trajectory > | create (const Path &path, const Eigen::VectorXd &max_velocity, const Eigen::VectorXd &max_acceleration, double time_step=0.001) |
| Generates a time-optimal trajectory. More... | |
Detailed Description
Definition at line 124 of file time_optimal_trajectory_generation.h.
Member Function Documentation
◆ create()
|
static |
Generates a time-optimal trajectory.
- Returns
- std::nullopt if the trajectory couldn't be parameterized.
Definition at line 358 of file time_optimal_trajectory_generation.cpp.
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◆ getAcceleration()
| Eigen::VectorXd trajectory_processing::Trajectory::getAcceleration | ( | double | time | ) | const |
Return the acceleration vector for a given point in time.
Definition at line 898 of file time_optimal_trajectory_generation.cpp.
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◆ getDuration()
| double trajectory_processing::Trajectory::getDuration | ( | ) | const |
Returns the optimal duration of the trajectory.
Definition at line 836 of file time_optimal_trajectory_generation.cpp.
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◆ getPosition()
| Eigen::VectorXd trajectory_processing::Trajectory::getPosition | ( | double | time | ) | const |
Return the position/configuration vector for a given point in time.
Definition at line 864 of file time_optimal_trajectory_generation.cpp.
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◆ getVelocity()
| Eigen::VectorXd trajectory_processing::Trajectory::getVelocity | ( | double | time | ) | const |
Return the velocity vector for a given point in time.
Definition at line 881 of file time_optimal_trajectory_generation.cpp.
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The documentation for this class was generated from the following files:
- moveit_core/trajectory_processing/include/moveit/trajectory_processing/time_optimal_trajectory_generation.h
- moveit_core/trajectory_processing/src/time_optimal_trajectory_generation.cpp
