moveit2
The MoveIt Motion Planning Framework for ROS 2.
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#include <moveit/macros/class_forward.hpp>
#include <moveit/robot_state/robot_state.hpp>
#include <moveit_msgs/msg/robot_trajectory.hpp>
#include <moveit_msgs/msg/robot_state.hpp>
#include <deque>
#include <memory>
#include <optional>
#include <rcl/error_handling.h>
#include <rcl/time.h>
#include <rclcpp/rclcpp.hpp>
#include <rclcpp/time.hpp>
#include <rclcpp/utilities.hpp>
Go to the source code of this file.
Classes | |
class | robot_trajectory::RobotTrajectory |
Maintain a sequence of waypoints and the time durations between these waypoints. More... | |
class | robot_trajectory::RobotTrajectory::Iterator |
Namespaces | |
namespace | robot_trajectory |
Functions | |
robot_trajectory::MOVEIT_CLASS_FORWARD (RobotTrajectory) | |
std::ostream & | robot_trajectory::operator<< (std::ostream &out, const RobotTrajectory &trajectory) |
Operator overload for printing trajectory to a stream. | |
double | robot_trajectory::pathLength (const RobotTrajectory &trajectory) |
Calculate the path length of a given trajectory based on the accumulated robot state distances. The distance between two robot states is calculated based on the sum of active joint distances between the two states (L1 norm). | |
std::optional< double > | robot_trajectory::smoothness (const RobotTrajectory &trajectory) |
Calculate the smoothness of a given trajectory. | |
std::optional< double > | robot_trajectory::waypointDensity (const RobotTrajectory &trajectory) |
Calculate the waypoint density of a trajectory. | |
std::optional< trajectory_msgs::msg::JointTrajectory > | robot_trajectory::toJointTrajectory (const RobotTrajectory &trajectory, bool include_mdof_joints=false, const std::vector< std::string > &joint_filter={}) |
Converts a RobotTrajectory to a JointTrajectory message. | |