moveit::core::JumpThreshold Struct Reference

Struct with options for defining joint-space jump thresholds. More...

#include <cartesian_interpolator.h>

Public Member Functions
	JumpThreshold ()=default
	JumpThreshold (double relative_factor)
	JumpThreshold (double revolute, double prismatic)

Static Public Member Functions
static JumpThreshold	disabled ()
	Do not define any jump threshold, i.e., disable joint-space jump detection.
static JumpThreshold	relative (double relative_factor)
	Detect joint-space jumps relative to the average joint-space displacement along the path.
static JumpThreshold	absolute (double revolute, double prismatic)
	Detect joint-space jumps greater than the given absolute thresholds.

Public Attributes
double	relative_factor = 0.0
double	revolute = 0.0
double	prismatic = 0.0

Detailed Description

Struct with options for defining joint-space jump thresholds.

Definition at line 56 of file cartesian_interpolator.h.

Constructor & Destructor Documentation

JumpThreshold() [1/3]

moveit::core::JumpThreshold::JumpThreshold ( )

default

Here is the caller graph for this function:

JumpThreshold() [2/3]

moveit::core::JumpThreshold::JumpThreshold

(

double

relative_factor

)

Definition at line 334 of file cartesian_interpolator.cpp.

JumpThreshold() [3/3]

moveit::core::JumpThreshold::JumpThreshold	(	double	revolute,
		double	prismatic
	)

Definition at line 338 of file cartesian_interpolator.cpp.

Member Function Documentation

absolute()

JumpThreshold moveit::core::JumpThreshold::absolute ( double  revolute, double  prismatic  )

static

Detect joint-space jumps greater than the given absolute thresholds.

revolute and prismatic are absolute joint displacement thresholds, in radians and meters respectively. If any two consecutive waypoints have a joint-space distance larger than these values, the path has a jump.

Definition at line 323 of file cartesian_interpolator.cpp.

Here is the caller graph for this function:

disabled()

JumpThreshold moveit::core::JumpThreshold::disabled ( )

static

Do not define any jump threshold, i.e., disable joint-space jump detection.

Definition at line 309 of file cartesian_interpolator.cpp.

Here is the call graph for this function:

relative()

JumpThreshold moveit::core::JumpThreshold::relative ( double  relative_factor )

static

Detect joint-space jumps relative to the average joint-space displacement along the path.

The average joint-space distance between consecutive points in the path is computed. If any individual joint-space motion delta is larger than the average distance by a factor of relative_factor, it is considered the path has a jump. For instance, a relative_factor of 10.0 will detect joint increments larger than 10x the average increment

Definition at line 314 of file cartesian_interpolator.cpp.

Here is the caller graph for this function:

Member Data Documentation

prismatic

double moveit::core::JumpThreshold::prismatic = 0.0

Definition at line 79 of file cartesian_interpolator.h.

relative_factor

double moveit::core::JumpThreshold::relative_factor = 0.0

Definition at line 77 of file cartesian_interpolator.h.

revolute

double moveit::core::JumpThreshold::revolute = 0.0

Definition at line 78 of file cartesian_interpolator.h.

---

The documentation for this struct was generated from the following files:

• moveit_core/robot_state/include/moveit/robot_state/cartesian_interpolator.h
• moveit_core/robot_state/src/cartesian_interpolator.cpp