#include <MinJerkTrajectoryFactory.h>
Inheritance diagram for MinJerkJointTrajectoryFactory:
Public Member Functions | |
| virtual boost::shared_ptr < JointTrajectory > | getTrajectory (const KDL::JntArrayAcc &startPose, const KDL::JntArrayAcc &goalPose, double durationTarget=-1.) const |
| getTrajectory produces a trajectory object from the inputs | |
| MinJerkJointTrajectoryFactory () | |
| virtual | ~MinJerkJointTrajectoryFactory () |
Detailed Description
Definition at line 13 of file MinJerkTrajectoryFactory.h.
Constructor & Destructor Documentation
Definition at line 16 of file MinJerkTrajectoryFactory.h.
| virtual MinJerkJointTrajectoryFactory::~MinJerkJointTrajectoryFactory | ( | ) | [inline, virtual] |
Definition at line 17 of file MinJerkTrajectoryFactory.h.
Member Function Documentation
| boost::shared_ptr< JointTrajectory > MinJerkJointTrajectoryFactory::getTrajectory | ( | const KDL::JntArrayAcc & | startPose, |
| const KDL::JntArrayAcc & | goalPose, | ||
| double | durationTarget = -1. |
||
| ) | const [virtual] |
getTrajectory produces a trajectory object from the inputs
- Parameters:
-
startPose start joint positions goalPose goal joint positions 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 5 of file MinJerkTrajectoryFactory.cpp.
The documentation for this class was generated from the following files: