#include <TrapezoidalVelocityTrajectoryFactory.h>
Inheritance diagram for TrapezoidalVelocityJointTrajectoryFactory:
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 | |
| TrapezoidalVelocityJointTrajectoryFactory () | |
| virtual | ~TrapezoidalVelocityJointTrajectoryFactory () |
Detailed Description
Definition at line 15 of file TrapezoidalVelocityTrajectoryFactory.h.
Constructor & Destructor Documentation
Definition at line 18 of file TrapezoidalVelocityTrajectoryFactory.h.
| virtual TrapezoidalVelocityJointTrajectoryFactory::~TrapezoidalVelocityJointTrajectoryFactory | ( | ) | [inline, virtual] |
Definition at line 19 of file TrapezoidalVelocityTrajectoryFactory.h.
Member Function Documentation
| boost::shared_ptr< JointTrajectory > TrapezoidalVelocityJointTrajectoryFactory::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 3 of file TrapezoidalVelocityTrajectoryFactory.cpp.
The documentation for this class was generated from the following files: