moveit.core.robot_trajectory

Classes

RobotTrajectory

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.