Classes
class	CircularPathSegment

class	LinearPathSegment

class	Path

class	PathSegment

class	RuckigSmoothing

class	TimeOptimalTrajectoryGeneration

class	TimeParameterization

class	Trajectory

Enumerations
enum	LimitType { VELOCITY , ACCELERATION }

Functions
	MOVEIT_CLASS_FORWARD (TimeOptimalTrajectoryGeneration)

bool	totgComputeTimeStamps (const size_t num_waypoints, robot_trajectory::RobotTrajectory &trajectory, const double max_velocity_scaling_factor=1.0, const double max_acceleration_scaling_factor=1.0)
	Compute a trajectory with the desired number of waypoints. Resampling the trajectory doesn't change the start and goal point, and all re-sampled waypoints will be on the path of the original trajectory (within path_tolerance_). However, controller execution is separate from MoveIt and may deviate from the intended path between waypoints. path_tolerance_ is defined in configuration space, so the unit is rad for revolute joints, meters for prismatic joints. This is a free function because it needs to modify the const resample_dt_ member of TimeOptimalTrajectoryGeneration class.

	MOVEIT_CLASS_FORWARD (TimeParameterization)
	Base class for trajectory parameterization algorithms.

bool	isTrajectoryEmpty (const moveit_msgs::msg::RobotTrajectory &trajectory)
	Checks if a robot trajectory is empty.

std::size_t	trajectoryWaypointCount (const moveit_msgs::msg::RobotTrajectory &trajectory)
	Returns the number of waypoints in a robot trajectory.

bool	applyTOTGTimeParameterization (robot_trajectory::RobotTrajectory &trajectory, double velocity_scaling_factor, double acceleration_scaling_factor, double path_tolerance=0.1, double resample_dt=0.1, double min_angle_change=0.001)
	Applies time parameterization to a robot trajectory using the Time-Optimal Trajectory Generation (TOTG) algorithm.

bool	applyRuckigSmoothing (robot_trajectory::RobotTrajectory &trajectory, double velocity_scaling_factor, double acceleration_scaling_factor, bool mitigate_overshoot=false, double overshoot_threshold=0.01)
	Applies Ruckig smoothing to a robot trajectory.

trajectory_msgs::msg::JointTrajectory	createTrajectoryMessage (const std::vector< std::string > &joint_names, const trajectory_processing::Trajectory &trajectory, const int sampling_rate)
	Converts a `trajectory_processing::Trajectory` into a `JointTrajectory` message with a given sampling rate.

Variables
constexpr double	DEFAULT_PATH_TOLERANCE = 0.1

const std::unordered_map< LimitType, std::string >	LIMIT_TYPES

Enumeration Type Documentation

◆ LimitType

enum trajectory_processing::LimitType

Enumerator
VELOCITY
ACCELERATION

Definition at line 54 of file time_optimal_trajectory_generation.h.

Function Documentation

◆ applyRuckigSmoothing()

bool trajectory_processing::applyRuckigSmoothing	(	robot_trajectory::RobotTrajectory &	trajectory,
		double	velocity_scaling_factor,
		double	acceleration_scaling_factor,
		bool	mitigate_overshoot = `false`,
		double	overshoot_threshold = `0.01`
	)

Applies Ruckig smoothing to a robot trajectory.

Parameters

[in,out]	trajectory	The robot trajectory to be smoothed.
[in]	velocity_scaling_factor	The factor by which to scale the maximum velocity of the trajectory.
[in]	acceleration_scaling_factor	The factor by which to scale the maximum acceleration of the trajectory.
[in]	mitigate_overshoot	Whether to mitigate overshoot during smoothing (default: false).
[in]	overshoot_threshold	The maximum allowed overshoot during smoothing (default: 0.01).

Returns: True if smoothing was successful, false otherwise.

Definition at line 70 of file trajectory_tools.cpp.

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◆ applyTOTGTimeParameterization()

bool trajectory_processing::applyTOTGTimeParameterization	(	robot_trajectory::RobotTrajectory &	trajectory,
		double	velocity_scaling_factor,
		double	acceleration_scaling_factor,
		double	path_tolerance = `0.1`,
		double	resample_dt = `0.1`,
		double	min_angle_change = `0.001`
	)

Applies time parameterization to a robot trajectory using the Time-Optimal Trajectory Generation (TOTG) algorithm.

Parameters

[in,out]	trajectory	The robot trajectory to be time parameterized.
[in]	velocity_scaling_factor	The factor by which to scale the maximum velocity of the trajectory.
[in]	acceleration_scaling_factor	The factor by which to scale the maximum acceleration of the trajectory.
[in]	path_tolerance	The path tolerance to use for time parameterization (default: 0.1).
[in]	resample_dt	The time step to use for time parameterization (default: 0.1).
[in]	min_angle_change	The minimum angle change to use for time parameterization (default: 0.001).

Returns: True if time parameterization was successful, false otherwise.

Definition at line 63 of file trajectory_tools.cpp.

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◆ createTrajectoryMessage()

trajectory_msgs::msg::JointTrajectory trajectory_processing::createTrajectoryMessage	(	const std::vector< std::string > &	joint_names,
		const trajectory_processing::Trajectory &	trajectory,
		const int	sampling_rate
	)

Converts a trajectory_processing::Trajectory into a JointTrajectory message with a given sampling rate.

Definition at line 78 of file trajectory_tools.cpp.

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◆ isTrajectoryEmpty()

bool trajectory_processing::isTrajectoryEmpty ( const moveit_msgs::msg::RobotTrajectory & trajectory )

Checks if a robot trajectory is empty.

Parameters

[in] trajectory The robot trajectory to check.

Returns: True if the trajectory is empty, false otherwise.

Definition at line 54 of file trajectory_tools.cpp.

◆ MOVEIT_CLASS_FORWARD() [1/2]

trajectory_processing::MOVEIT_CLASS_FORWARD ( TimeOptimalTrajectoryGeneration )

◆ MOVEIT_CLASS_FORWARD() [2/2]

trajectory_processing::MOVEIT_CLASS_FORWARD ( TimeParameterization )

Base class for trajectory parameterization algorithms.

◆ totgComputeTimeStamps()

bool trajectory_processing::totgComputeTimeStamps	(	const size_t	num_waypoints,
		robot_trajectory::RobotTrajectory &	trajectory,
		const double	max_velocity_scaling_factor = `1.0`,
		const double	max_acceleration_scaling_factor = `1.0`
	)

Compute a trajectory with the desired number of waypoints. Resampling the trajectory doesn't change the start and goal point, and all re-sampled waypoints will be on the path of the original trajectory (within path_tolerance_). However, controller execution is separate from MoveIt and may deviate from the intended path between waypoints. path_tolerance_ is defined in configuration space, so the unit is rad for revolute joints, meters for prismatic joints. This is a free function because it needs to modify the const resample_dt_ member of TimeOptimalTrajectoryGeneration class.

Parameters

	num_waypoints	The desired number of waypoints (plus or minus one due to numerical rounding).
[in,out]	trajectory	A path which needs time-parameterization. It's OK if this path has already been time-parameterized; this function will re-time-parameterize it.
	max_velocity_scaling_factor	A factor in the range [0,1] which can slow down the trajectory.
	max_acceleration_scaling_factor	A factor in the range [0,1] which can slow down the trajectory.

Definition at line 1137 of file time_optimal_trajectory_generation.cpp.

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