Class TrajectoryGeneratorLIN

Inheritance Relationships

Base Type

Class Documentation

class TrajectoryGeneratorLIN : public pilz_industrial_motion_planner::TrajectoryGenerator

This class implements a linear trajectory generator in Cartesian space. The Cartesian trajetory are based on trapezoid velocity profile.

Public Functions

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

Constructor of LIN Trajectory Generator.

Throws:

TrajectoryGeneratorInvalidLimitsException –

Parameters:

  • model – robot model

  • planner_limits – limits in joint and Cartesian spaces