#include <Eigen/Core>#include <list>#include <moveit/robot_trajectory/robot_trajectory.hpp>#include <moveit/trajectory_processing/time_parameterization.hpp>
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Classes | |
| class | trajectory_processing::PathSegment |
| class | trajectory_processing::Path |
| class | trajectory_processing::Trajectory |
| class | trajectory_processing::TimeOptimalTrajectoryGeneration |
Namespaces | |
| namespace | trajectory_processing |
Enumerations | |
| enum | trajectory_processing::LimitType { trajectory_processing::VELOCITY , trajectory_processing::ACCELERATION } |
Functions | |
| trajectory_processing::MOVEIT_CLASS_FORWARD (TimeOptimalTrajectoryGeneration) | |
| 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. | |
Variables | |
| constexpr double | trajectory_processing::DEFAULT_PATH_TOLERANCE = 0.1 |
| const std::unordered_map< LimitType, std::string > | trajectory_processing::LIMIT_TYPES |
