Class CpTrajectoryExecutor

• Defined in File cp_trajectory_executor.hpp

Inheritance Relationships

Base Type

• public smacc2::ISmaccComponent

Class Documentation

class CpTrajectoryExecutor : public smacc2::ISmaccComponent

Component for centralized trajectory execution.

This component provides a unified interface for executing trajectories with:

• Automatic recording to CpTrajectoryHistory

• Consistent error handling and event posting

• Execution options (velocity/acceleration scaling)

• Execution time tracking

Pattern: Executor with signals (like action clients)

Public Functions

CpTrajectoryExecutor() = default

virtual ~CpTrajectoryExecutor() = default

inline void onInitialize() override

Initialize the component and get references to required components/clients.

inline ExecutionResult execute(const moveit_msgs::msg::RobotTrajectory &trajectory, const ExecutionOptions &options = {})

Execute a trajectory synchronously.

Parameters:

• trajectory – The robot trajectory to execute

• options – Execution configuration options

Returns:

ExecutionResult with success status and error information

inline ExecutionResult executePlan(const moveit::planning_interface::MoveGroupInterface::Plan &plan, const ExecutionOptions &options = {})

Execute a motion plan synchronously.

Convenience method that accepts a MoveGroupInterface::Plan directly

Parameters:

• plan – The motion plan containing the trajectory

• options – Execution configuration options

Returns:

ExecutionResult with success status and error information

inline void cancel()

Cancel ongoing execution.

Note: This is a best-effort cancellation and may not immediately stop the robot

inline CpTrajectoryHistory *getTrajectoryHistory()

Get the trajectory history component.

Returns:

Pointer to CpTrajectoryHistory, or nullptr if not available