moveit2
The MoveIt Motion Planning Framework for ROS 2.

Struct with options for defining jointspace 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 jointspace jump detection. More...  
static JumpThreshold  relative (double relative_factor) 
Detect jointspace jumps relative to the average jointspace displacement along the path. More...  
static JumpThreshold  absolute (double revolute, double prismatic) 
Detect jointspace jumps greater than the given absolute thresholds. More...  
Public Attributes  
double  relative_factor = 0.0 
double  revolute = 0.0 
double  prismatic = 0.0 
Struct with options for defining jointspace jump thresholds.
Definition at line 48 of file cartesian_interpolator.h.

default 
moveit::core::JumpThreshold::JumpThreshold  (  double  relative_factor  ) 
Definition at line 164 of file cartesian_interpolator.cpp.
moveit::core::JumpThreshold::JumpThreshold  (  double  revolute, 
double  prismatic  
) 
Definition at line 168 of file cartesian_interpolator.cpp.

static 
Detect jointspace 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 jointspace distance larger than these values, the path has a jump.
Definition at line 153 of file cartesian_interpolator.cpp.

static 
Do not define any jump threshold, i.e., disable jointspace jump detection.
Definition at line 139 of file cartesian_interpolator.cpp.

static 
Detect jointspace jumps relative to the average jointspace displacement along the path.
The average jointspace distance between consecutive points in the path is computed. If any individual jointspace 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.
double moveit::core::JumpThreshold::prismatic = 0.0 
Definition at line 71 of file cartesian_interpolator.h.
double moveit::core::JumpThreshold::relative_factor = 0.0 
Definition at line 69 of file cartesian_interpolator.h.
double moveit::core::JumpThreshold::revolute = 0.0 
Definition at line 70 of file cartesian_interpolator.h.