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The MoveIt Motion Planning Framework for ROS 2.
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Classes | Public Member Functions | Static Public Member Functions | List of all members
trajectory_processing::Trajectory Class Reference

#include <time_optimal_trajectory_generation.h>

Public Member Functions

double getDuration () const
 Returns the optimal duration of the trajectory.
 
Eigen::VectorXd getPosition (double time) const
 Return the position/configuration vector for a given point in time.
 
Eigen::VectorXd getVelocity (double time) const
 Return the velocity vector for a given point in time.
 
Eigen::VectorXd getAcceleration (double time) const
 Return the acceleration vector for a given point in time.
 

Static Public Member Functions

static std::optional< Trajectorycreate (const Path &path, const Eigen::VectorXd &max_velocity, const Eigen::VectorXd &max_acceleration, double time_step=0.001)
 Generates a time-optimal trajectory.
 

Detailed Description

Definition at line 124 of file time_optimal_trajectory_generation.h.

Member Function Documentation

◆ create()

std::optional< Trajectory > trajectory_processing::Trajectory::create ( const Path path,
const Eigen::VectorXd &  max_velocity,
const Eigen::VectorXd &  max_acceleration,
double  time_step = 0.001 
)
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: