#include <TrapezoidalVelocityTrajectoryFactory.h>
Inheritance diagram for TrapezoidalVelocitySynchedCartesianTrajectoryFactory:
Public Member Functions | |
| virtual boost::shared_ptr < SynchedCartesianTrajectory > | getTrajectory (const std::vector< KDL::FrameAcc > &startPoses, const std::vector< KDL::FrameAcc > &goalPoses, double timeToFinish=-1.) const |
| getTrajectory | |
| TrapezoidalVelocitySynchedCartesianTrajectoryFactory () | |
| virtual | ~TrapezoidalVelocitySynchedCartesianTrajectoryFactory () |
Detailed Description
Definition at line 53 of file TrapezoidalVelocityTrajectoryFactory.h.
Constructor & Destructor Documentation
| TrapezoidalVelocitySynchedCartesianTrajectoryFactory::TrapezoidalVelocitySynchedCartesianTrajectoryFactory | ( | ) | [inline] |
Definition at line 56 of file TrapezoidalVelocityTrajectoryFactory.h.
| virtual TrapezoidalVelocitySynchedCartesianTrajectoryFactory::~TrapezoidalVelocitySynchedCartesianTrajectoryFactory | ( | ) | [inline, virtual] |
Definition at line 57 of file TrapezoidalVelocityTrajectoryFactory.h.
Member Function Documentation
| boost::shared_ptr< SynchedCartesianTrajectory > TrapezoidalVelocitySynchedCartesianTrajectoryFactory::getTrajectory | ( | const std::vector< KDL::FrameAcc > & | startPoses, |
| const std::vector< KDL::FrameAcc > & | goalPoses, | ||
| double | timeToFinish = -1. |
||
| ) | const [virtual] |
getTrajectory
- Parameters:
-
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 17 of file TrapezoidalVelocityTrajectoryFactory.cpp.
The documentation for this class was generated from the following files: