trajectory_maker.h
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00001 #ifndef DESCARTES_TEST_TRAJECTORY_MAKER_H
00002 #define DESCARTES_TEST_TRAJECTORY_MAKER_H
00003 
00004 #include "descartes_trajectory/cart_trajectory_pt.h"
00005 #include "descartes_core/utils.h"
00006 
00007 namespace descartes_tests
00008 {
00009 // Makes a linear trajectory with a given tool speed
00010 std::vector<descartes_core::TrajectoryPtPtr> makeConstantVelocityTrajectory(const Eigen::Vector3d& start,
00011                                                                             const Eigen::Vector3d& stop,
00012                                                                             double tool_vel, size_t n_steps);
00013 
00014 // Make a pattern that moves in a line but that oscillates along the
00015 // y axis as it moves
00016 std::vector<descartes_core::TrajectoryPtPtr> makeZigZagTrajectory(double x_start, double x_stop, double y_amplitude,
00017                                                                   double tool_vel, size_t n_steps);
00018 }
00019 
00020 #endif


descartes_planner
Author(s): Jorge Nicho
autogenerated on Thu Jun 6 2019 21:36:12