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. More... | |
| 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). More... | |
| std::optional< double > | smoothness (const RobotTrajectory &trajectory) |
| Calculate the smoothness of a given trajectory. More... | |
| std::optional< double > | waypointDensity (const RobotTrajectory &trajectory) |
| Calculate the waypoint density of a trajectory. More... | |
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 637 of file robot_trajectory.cpp.
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◆ pathLength()
| 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).
- Parameters
-
[in] trajectory Given robot trajectory
- Returns
- Length of the robot trajectory [rad]
Definition at line 643 of file robot_trajectory.cpp.
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◆ smoothness()
| std::optional< double > robot_trajectory::smoothness | ( | const RobotTrajectory & | trajectory | ) |
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);
(a + b);
Definition at line 655 of file robot_trajectory.cpp.
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◆ waypointDensity()
| std::optional< double > robot_trajectory::waypointDensity | ( | const RobotTrajectory & | trajectory | ) |
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 693 of file robot_trajectory.cpp.
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