moveit.core.robot_trajectory
Classes
Maintains a sequence of waypoints and the durations between these waypoints. |
- class moveit.core.robot_trajectory.RobotTrajectory
Maintains a sequence of waypoints and the durations between these waypoints.
- property average_segment_duration
The average duration of the segments in the trajectory.
- Type
float
- property duration
The duration of the trajectory.
- Type
float
- get_robot_trajectory_msg()
Get the trajectory as a moveit_msgs.msg.RobotTrajectory message.
- Returns
moveit_msgs.msg.RobotTrajectory – A ROS robot trajectory message.
- get_waypoint_durations()
Get the durations from the previous waypoint in the trajectory.
- Returns
list of float – The duration from previous of each waypoint in the trajectory.
- property joint_model_group_name
The name of the joint model group that this trajectory is for.
- Type
str
- property robot_model
The robot model that this trajectory is for.
- Type
moveit_py.core.RobotModel
- set_robot_trajectory_msg()
Set the trajectory from a moveit_msgs.msg.RobotTrajectory message.
- unwind()
Unwind the trajectory.