moveit2
The MoveIt Motion Planning Framework for ROS 2.
Public Member Functions | Static Public Member Functions | Public Attributes | List of all members
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. More...
 
static JumpThreshold relative (double relative_factor)
 Detect joint-space jumps relative to the average joint-space displacement along the path. More...
 
static JumpThreshold absolute (double revolute, double prismatic)
 Detect joint-space jumps greater than the given absolute thresholds. More...
 

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 48 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 164 of file cartesian_interpolator.cpp.

◆ JumpThreshold() [3/3]

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

Definition at line 168 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 153 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 139 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 144 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 71 of file cartesian_interpolator.h.

◆ relative_factor

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

Definition at line 69 of file cartesian_interpolator.h.

◆ revolute

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

Definition at line 70 of file cartesian_interpolator.h.


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