moveit2
The MoveIt Motion Planning Framework for ROS 2.
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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 |
Enumerator | |
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VELOCITY | |
ACCELERATION |
Definition at line 48 of file time_optimal_trajectory_generation.h.
bool trajectory_processing::isTrajectoryEmpty | ( | const moveit_msgs::msg::RobotTrajectory & | trajectory | ) |
Definition at line 41 of file trajectory_tools.cpp.
trajectory_processing::MOVEIT_CLASS_FORWARD | ( | TimeOptimalTrajectoryGeneration | ) |
trajectory_processing::MOVEIT_CLASS_FORWARD | ( | TimeParameterization | ) |
Base class for trajectory parameterization algorithms.
bool trajectory_processing::totgComputeTimeStamps | ( | const size_t | num_waypoints, |
robot_trajectory::RobotTrajectory & | trajectory, | ||
const double | max_velocity_scaling_factor = 1.0 , |
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const double | max_acceleration_scaling_factor = 1.0 |
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) |
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.
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.
std::size_t trajectory_processing::trajectoryWaypointCount | ( | const moveit_msgs::msg::RobotTrajectory & | trajectory | ) |
Definition at line 46 of file trajectory_tools.cpp.
const std::unordered_map<LimitType, std::string> trajectory_processing::LIMIT_TYPES |
Definition at line 54 of file time_optimal_trajectory_generation.h.