robot_trajectory Namespace Reference

Classes
class	RobotTrajectory
	Maintain a sequence of waypoints and the time durations between these waypoints. More...

Functions
	MOVEIT_CLASS_FORWARD (RobotTrajectory)
std::ostream &	operator<< (std::ostream &out, const RobotTrajectory &trajectory)
	Operator overload for printing trajectory to a stream.
double	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 >	smoothness (const RobotTrajectory &trajectory)
	Calculate the smoothness of a given trajectory.
std::optional< double >	waypointDensity (const RobotTrajectory &trajectory)
	Calculate the waypoint density of a trajectory.
std::optional< trajectory_msgs::msg::JointTrajectory >	toJointTrajectory (const RobotTrajectory &trajectory, bool include_mdof_joints=false, const std::vector< std::string > &joint_filter={})
	Converts a RobotTrajectory to a JointTrajectory message.

Function Documentation

MOVEIT_CLASS_FORWARD()

robot_trajectory::MOVEIT_CLASS_FORWARD

(

RobotTrajectory

)

operator<<()

std::ostream & robot_trajectory::operator<<	(	std::ostream &	out,
		const RobotTrajectory &	trajectory )

Operator overload for printing trajectory to a stream.

Definition at line 703 of file robot_trajectory.cpp.

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pathLength()

double robot_trajectory::pathLength ( const RobotTrajectory & trajectory )

nodiscard

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).

Parameters

[in]

trajectory

Given robot trajectory

Returns

Length of the robot trajectory [rad]

Definition at line 709 of file robot_trajectory.cpp.

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smoothness()

std::optional< double > robot_trajectory::smoothness ( const RobotTrajectory & trajectory )

nodiscard

Calculate the smoothness of a given trajectory.

Parameters

[in]

trajectory

Given robot trajectory

Returns

Smoothness of the given trajectory or nullopt if it is not possible to calculate the smoothness

(a + b);

Definition at line 721 of file robot_trajectory.cpp.

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toJointTrajectory()

std::optional< trajectory_msgs::msg::JointTrajectory > robot_trajectory::toJointTrajectory ( const RobotTrajectory & trajectory, bool include_mdof_joints = false, const std::vector< std::string > & joint_filter = {} )

nodiscard

Converts a RobotTrajectory to a JointTrajectory message.

Definition at line 776 of file robot_trajectory.cpp.

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waypointDensity()

std::optional< double > robot_trajectory::waypointDensity ( const RobotTrajectory & trajectory )

nodiscard

Calculate the waypoint density of a trajectory.

Parameters

[in]

trajectory

Given robot trajectory

Returns

Waypoint density of the given trajectory or nullopt if it is not possible to calculate the density

Definition at line 759 of file robot_trajectory.cpp.

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