Classes
class	RuckigSmoothing

class	PathSegment

class	Path

class	Trajectory

class	TimeOptimalTrajectoryGeneration

class	TimeParameterization

class	LinearPathSegment

class	CircularPathSegment

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. More...

	MOVEIT_CLASS_FORWARD (TimeParameterization)
	Base class for trajectory parameterization algorithms. More...

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

std::size_t	trajectoryWaypointCount (const moveit_msgs::msg::RobotTrajectory &trajectory)

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

Enumeration Type Documentation

◆ LimitType

enum trajectory_processing::LimitType

Enumerator
VELOCITY
ACCELERATION

Definition at line 48 of file time_optimal_trajectory_generation.h.

Function Documentation

◆ isTrajectoryEmpty()

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

Definition at line 41 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 1075 of file time_optimal_trajectory_generation.cpp.

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