Trajectory generation
Overview sequence processing
The following diagram shows the steps to process and execute
a list of commands given as sequence. The diagram also shows the resulting data
structures of each processing step.
Overview classes PlanningContext
The following diagram shows the different classes responsible for the loading
of the different planning contexts (e.g. Ptp, Lin, Circ) and the
relationship between them.
Relationship MoveGroupCapabilities and ComandListManager
The following diagram shows the relationship between the MoveGroupCapabilities
and the CommandListManager.
Blending algorithm description
A description of the used blending algorithm can be found here.