Function pilz_industrial_motion_planner::linearSearchIntersectionPoint

• Defined in File trajectory_functions.h

Function Documentation

bool pilz_industrial_motion_planner::linearSearchIntersectionPoint(const std::string &link_name, const Eigen::Vector3d &center_position, const double r, const robot_trajectory::RobotTrajectoryPtr &traj, bool inverseOrder, std::size_t &index)

Performs a linear search for the intersection point of the trajectory with the blending radius.

Parameters:

• center_position – Center of blending sphere.

• r – Radius of blending sphere.

• traj – The trajectory.

• inverseOrder – TRUE: Farthest element from blending sphere center is located at the smallest index of trajectroy.

• index – The intersection index which has to be determined.