Class TrajectoryBlender

Inheritance Relationships

Derived Type

Class Documentation

class TrajectoryBlender

Base class of trajectory blenders.

Subclassed by pilz_industrial_motion_planner::TrajectoryBlenderTransitionWindow

Public Functions

inline TrajectoryBlender(const pilz_industrial_motion_planner::LimitsContainer &planner_limits)
inline virtual ~TrajectoryBlender()
virtual bool blend(const planning_scene::PlanningSceneConstPtr &planning_scene, const pilz_industrial_motion_planner::TrajectoryBlendRequest &req, pilz_industrial_motion_planner::TrajectoryBlendResponse &res) = 0

Blend two robot trajectories with the given blending radius.

Parameters:

  • planning_scene – planning scene

  • req – trajectory blend request

  • res – trajectroy blend response

Returns:

true if blend succeed

Protected Attributes

const pilz_industrial_motion_planner::LimitsContainer limits_