moveit2
The MoveIt Motion Planning Framework for ROS 2.
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moveit_planners
pilz_industrial_motion_planner
include
pilz_industrial_motion_planner
trajectory_blend_request.h
Go to the documentation of this file.
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2018 Pilz GmbH & Co. KG
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Pilz GmbH & Co. KG nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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#pragma once
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#include <string>
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#include <
moveit/robot_trajectory/robot_trajectory.h
>
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namespace
pilz_industrial_motion_planner
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{
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struct
TrajectoryBlendRequest
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{
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// The name of the group of joints on which this blender is operating
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std::string
group_name
;
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// The name of the target link on which this blender is operating
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std::string
link_name
;
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// Robot trajectories to be blended
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robot_trajectory::RobotTrajectoryPtr
first_trajectory
;
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robot_trajectory::RobotTrajectoryPtr
second_trajectory
;
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// Blend radius in meter
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double
blend_radius
;
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};
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}
// namespace pilz_industrial_motion_planner
robot_trajectory.h
pilz_industrial_motion_planner
Definition
capability_names.h:40
pilz_industrial_motion_planner::TrajectoryBlendRequest
Definition
trajectory_blend_request.h:44
pilz_industrial_motion_planner::TrajectoryBlendRequest::second_trajectory
robot_trajectory::RobotTrajectoryPtr second_trajectory
Definition
trajectory_blend_request.h:53
pilz_industrial_motion_planner::TrajectoryBlendRequest::link_name
std::string link_name
Definition
trajectory_blend_request.h:49
pilz_industrial_motion_planner::TrajectoryBlendRequest::group_name
std::string group_name
Definition
trajectory_blend_request.h:46
pilz_industrial_motion_planner::TrajectoryBlendRequest::blend_radius
double blend_radius
Definition
trajectory_blend_request.h:56
pilz_industrial_motion_planner::TrajectoryBlendRequest::first_trajectory
robot_trajectory::RobotTrajectoryPtr first_trajectory
Definition
trajectory_blend_request.h:52
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