44 return trajectory.joint_trajectory.points.empty() && trajectory.multi_dof_joint_trajectory.points.empty();
49 return std::max(trajectory.joint_trajectory.points.size(), trajectory.multi_dof_joint_trajectory.points.size());
52 double acceleration_scaling_factor,
double path_tolerance,
double resample_dt,
53 double min_angle_change)
56 return totg.
computeTimeStamps(trajectory, velocity_scaling_factor, acceleration_scaling_factor);
59 double acceleration_scaling_factor,
bool mitigate_overshoot,
double overshoot_threshold)
62 return time_param.
applySmoothing(trajectory, velocity_scaling_factor, acceleration_scaling_factor, mitigate_overshoot,
Maintain a sequence of waypoints and the time durations between these waypoints.
static bool applySmoothing(robot_trajectory::RobotTrajectory &trajectory, const double max_velocity_scaling_factor=1.0, const double max_acceleration_scaling_factor=1.0, const bool mitigate_overshoot=false, const double overshoot_threshold=0.01)
Apply smoothing to a time-parameterized trajectory so that jerk limits are not violated.
bool computeTimeStamps(robot_trajectory::RobotTrajectory &trajectory, const double max_velocity_scaling_factor=1.0, const double max_acceleration_scaling_factor=1.0) const override
Compute a trajectory with waypoints spaced equally in time (according to resample_dt_)....
bool applyTOTGTimeParameterization(robot_trajectory::RobotTrajectory &trajectory, double velocity_scaling_factor, double acceleration_scaling_factor, double path_tolerance=0.1, double resample_dt=0.1, double min_angle_change=0.001)
Applies time parameterization to a robot trajectory using the Time-Optimal Trajectory Generation (TOT...
bool applyRuckigSmoothing(robot_trajectory::RobotTrajectory &trajectory, double velocity_scaling_factor, double acceleration_scaling_factor, bool mitigate_overshoot=false, double overshoot_threshold=0.01)
Applies Ruckig smoothing to a robot trajectory.
bool isTrajectoryEmpty(const moveit_msgs::msg::RobotTrajectory &trajectory)
Checks if a robot trajectory is empty.
std::size_t trajectoryWaypointCount(const moveit_msgs::msg::RobotTrajectory &trajectory)
Returns the number of waypoints in a robot trajectory.