#include <MinJerkTrajectoryFactory.h>
Public Member Functions | |
virtual boost::shared_ptr < SynchedCartesianTrajectory > | getTrajectory (const std::vector< KDL::FrameAcc > &startPoses, const std::vector< KDL::FrameAcc > &goalPoses, double timeToFinish=-1.) const |
getTrajectory | |
MinJerkSynchedCartesianTrajectoryFactory () | |
virtual | ~MinJerkSynchedCartesianTrajectoryFactory () |
Definition at line 51 of file MinJerkTrajectoryFactory.h.
Definition at line 54 of file MinJerkTrajectoryFactory.h.
virtual MinJerkSynchedCartesianTrajectoryFactory::~MinJerkSynchedCartesianTrajectoryFactory | ( | ) | [inline, virtual] |
Definition at line 55 of file MinJerkTrajectoryFactory.h.
boost::shared_ptr< SynchedCartesianTrajectory > MinJerkSynchedCartesianTrajectoryFactory::getTrajectory | ( | const std::vector< KDL::FrameAcc > & | startPoses, |
const std::vector< KDL::FrameAcc > & | goalPoses, | ||
double | timeToFinish = -1. |
||
) | const [virtual] |
getTrajectory
startPose | start position |
goalPose | goal position |
timeToFinish | time to execute move |
Derived classes should implement a trajectory generation that produces equally spaced (by timeStep) points along the path without exceeding the velocity limits. If timeToFinish is larger than the time required to satisfy velocity limits, the trajectory should take that long to finish.
Definition at line 19 of file MinJerkTrajectoryFactory.cpp.