time_optimal_trajectory_generation.hpp File Reference

#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