Class TrajectoryGeneratorCIRC

Inheritance Relationships

Base Type

Class Documentation

class TrajectoryGeneratorCIRC : public pilz_industrial_motion_planner::TrajectoryGenerator

This class implements a trajectory generator of arcs in Cartesian space. The arc is specified by a start pose, a goal pose and a interim point on the arc, or a point as the center of the circle which forms the arc. Complete circle is not covered by this generator.

Public Functions

TrajectoryGeneratorCIRC(const moveit::core::RobotModelConstPtr &robot_model, const pilz_industrial_motion_planner::LimitsContainer &planner_limits, const std::string &group_name)

Constructor of CIRC Trajectory Generator.

Parameters:

planner_limits – Limits in joint and Cartesian spaces

Throws:

TrajectoryGeneratorInvalidLimitsException –