moveit2
The MoveIt Motion Planning Framework for ROS 2.
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trajectory_generator_circ.h
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34
35#pragma once
36
37#include <eigen3/Eigen/Eigen>
38#include <kdl/path.hpp>
39#include <kdl/velocityprofile.hpp>
41
43
45{
46CREATE_MOVEIT_ERROR_CODE_EXCEPTION(CircleNoPlane, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN);
47CREATE_MOVEIT_ERROR_CODE_EXCEPTION(CircleToSmall, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN);
48CREATE_MOVEIT_ERROR_CODE_EXCEPTION(CenterPointDifferentRadius, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN);
49CREATE_MOVEIT_ERROR_CODE_EXCEPTION(CircTrajectoryConversionFailure,
50 moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN);
51CREATE_MOVEIT_ERROR_CODE_EXCEPTION(UnknownPathConstraintName, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN);
52CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoPositionConstraints, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN);
53CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NoPrimitivePose, moveit_msgs::msg::MoveItErrorCodes::INVALID_MOTION_PLAN);
54
55CREATE_MOVEIT_ERROR_CODE_EXCEPTION(UnknownLinkNameOfAuxiliaryPoint,
56 moveit_msgs::msg::MoveItErrorCodes::INVALID_LINK_NAME);
57CREATE_MOVEIT_ERROR_CODE_EXCEPTION(NumberOfConstraintsMismatch,
58 moveit_msgs::msg::MoveItErrorCodes::INVALID_GOAL_CONSTRAINTS);
59CREATE_MOVEIT_ERROR_CODE_EXCEPTION(CircJointMissingInStartState,
60 moveit_msgs::msg::MoveItErrorCodes::INVALID_ROBOT_STATE);
61CREATE_MOVEIT_ERROR_CODE_EXCEPTION(CircInverseForGoalIncalculable, moveit_msgs::msg::MoveItErrorCodes::NO_IK_SOLUTION);
62
73{
74public:
83 TrajectoryGeneratorCIRC(const moveit::core::RobotModelConstPtr& robot_model,
85 const std::string& group_name);
86
87private:
88 void cmdSpecificRequestValidation(const planning_interface::MotionPlanRequest& req) const override;
89
90 void extractMotionPlanInfo(const planning_scene::PlanningSceneConstPtr& scene,
91 const planning_interface::MotionPlanRequest& req, MotionPlanInfo& info) const final;
92
93 void plan(const planning_scene::PlanningSceneConstPtr& scene, const planning_interface::MotionPlanRequest& req,
94 const MotionPlanInfo& plan_info, double sampling_time,
95 trajectory_msgs::msg::JointTrajectory& joint_trajectory) override;
96
110 std::unique_ptr<KDL::Path> setPathCIRC(const MotionPlanInfo& info) const;
111};
112
113} // namespace pilz_industrial_motion_planner
This class combines CartesianLimit and JointLimits into on single class.
This class implements a trajectory generator of arcs in Cartesian space. The arc is specified by a st...
This class is used to extract needed information from motion plan request.
moveit_msgs::msg::MotionPlanRequest MotionPlanRequest
#define CREATE_MOVEIT_ERROR_CODE_EXCEPTION(EXCEPTION_CLASS_NAME, ERROR_CODE)