limit_cartesian_speed.h
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35 
36 /* Authors: Benjamin Scholz, Thies Oelerich */
37 
38 #pragma once
39 
41 #include <string>
42 namespace trajectory_processing
43 {
44 MOVEIT_CLASS_FORWARD(RobotTrajectory);
45 } // namespace trajectory_processing
46 
47 namespace trajectory_processing
48 {
49 bool limitMaxCartesianLinkSpeed(robot_trajectory::RobotTrajectory& trajectory, const double speed,
50  const moveit::core::LinkModel* link_model);
51 bool limitMaxCartesianLinkSpeed(robot_trajectory::RobotTrajectory& trajectory, const double speed,
52  const std::string& link_name = "");
53 } // namespace trajectory_processing
moveit::core::LinkModel
A link from the robot. Contains the constant transform applied to the link and its geometry.
Definition: link_model.h:71
class_forward.h
robot_trajectory::RobotTrajectory
Maintain a sequence of waypoints and the time durations between these waypoints.
Definition: robot_trajectory.h:84
trajectory_processing::limitMaxCartesianLinkSpeed
bool limitMaxCartesianLinkSpeed(robot_trajectory::RobotTrajectory &trajectory, const double speed, const moveit::core::LinkModel *link_model)
Definition: limit_cartesian_speed.cpp:83
trajectory_processing
Definition: iterative_spline_parameterization.h:43
trajectory_processing::MOVEIT_CLASS_FORWARD
MOVEIT_CLASS_FORWARD(IterativeParabolicTimeParameterization)
This class modifies the timestamps of a trajectory to respect velocity and acceleration constraints.


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sat Jul 6 2024 02:26:32