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 644 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 650 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 662 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 = {} |
||
| ) |
Converts a RobotTrajectory to a JointTrajectory message.
Definition at line 717 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 700 of file robot_trajectory.cpp.
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