Class CpJointSpaceTrajectoryPlanner

Inheritance Relationships

Base Type

  • public smacc2::ISmaccComponent

Class Documentation

class CpJointSpaceTrajectoryPlanner : public smacc2::ISmaccComponent

Component for joint space trajectory generation from Cartesian waypoints.

This component centralizes IK-based trajectory generation:

  • Computes IK solutions for Cartesian waypoint sequences

  • Validates trajectory continuity

  • Detects and reports joint discontinuities

  • Handles initial state validation

Pattern: Trajectory planner with IK service integration

Public Functions

CpJointSpaceTrajectoryPlanner() = default
virtual ~CpJointSpaceTrajectoryPlanner() = default
inline void onInitialize() override

Initialize the component and create IK service client.

inline JointTrajectoryResult planFromWaypoints(const std::vector<geometry_msgs::msg::PoseStamped> &waypoints, const JointTrajectoryOptions &options = {})

Compute joint space trajectory from Cartesian waypoints.

Parameters:

  • waypoints – Vector of Cartesian poses to follow

  • options – Planning configuration options

Returns:

JointTrajectoryResult with success status and computed trajectory