#include <TrapezoidalVelocityTrajectoryFactory.h>
Public Member Functions | |
virtual boost::shared_ptr < CartesianTrajectory > | getTrajectory (const KDL::FrameAcc &startPose, const KDL::FrameAcc &goalPose, double timeToFinish=-1.) const |
getTrajectory | |
TrapezoidalVelocityCartesianTrajectoryFactory () | |
virtual | ~TrapezoidalVelocityCartesianTrajectoryFactory () |
Definition at line 34 of file TrapezoidalVelocityTrajectoryFactory.h.
TrapezoidalVelocityCartesianTrajectoryFactory::TrapezoidalVelocityCartesianTrajectoryFactory | ( | ) | [inline] |
Definition at line 37 of file TrapezoidalVelocityTrajectoryFactory.h.
virtual TrapezoidalVelocityCartesianTrajectoryFactory::~TrapezoidalVelocityCartesianTrajectoryFactory | ( | ) | [inline, virtual] |
Definition at line 38 of file TrapezoidalVelocityTrajectoryFactory.h.
boost::shared_ptr< CartesianTrajectory > TrapezoidalVelocityCartesianTrajectoryFactory::getTrajectory | ( | const KDL::FrameAcc & | startPose, |
const KDL::FrameAcc & | goalPose, | ||
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 10 of file TrapezoidalVelocityTrajectoryFactory.cpp.