This class implements a trajectory generator of arcs in Cartesian space. The arc is specified by a start pose, a goal pose and a interim point on the arc, or a point as the center of the circle which forms the arc. Complete circle is not covered by this generator. More...

#include <trajectory_generator_circ.h>

Inheritance diagram for pilz::TrajectoryGeneratorCIRC:

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Public Member Functions
	TrajectoryGeneratorCIRC (const robot_model::RobotModelConstPtr &robot_model, const pilz::LimitsContainer &planner_limits)
	Constructor of CIRC Trajectory Generator. More...

virtual	~TrajectoryGeneratorCIRC ()=default

Public Member Functions inherited from pilz::TrajectoryGenerator
bool	generate (const planning_interface::MotionPlanRequest &req, planning_interface::MotionPlanResponse &res, double sampling_time=0.1)
	generate robot trajectory with given sampling time More...

	TrajectoryGenerator (const robot_model::RobotModelConstPtr &robot_model, const pilz::LimitsContainer &planner_limits)

virtual	~TrajectoryGenerator ()=default

Private Member Functions
virtual void	cmdSpecificRequestValidation (const planning_interface::MotionPlanRequest &req) const override

virtual void	extractMotionPlanInfo (const planning_interface::MotionPlanRequest &req, MotionPlanInfo &info) const finaloverride
	Extract needed information from a motion plan request in order to simplify further usages. More...

virtual void	plan (const planning_interface::MotionPlanRequest &req, const MotionPlanInfo &plan_info, const double &sampling_time, trajectory_msgs::JointTrajectory &joint_trajectory) override

std::unique_ptr< KDL::Path >	setPathCIRC (const MotionPlanInfo &info) const
	Construct a KDL::Path object for a Cartesian path of an arc. More...

Additional Inherited Members
Protected Member Functions inherited from pilz::TrajectoryGenerator
std::unique_ptr< KDL::VelocityProfile >	cartesianTrapVelocityProfile (const double &max_velocity_scaling_factor, const double &max_acceleration_scaling_factor, const std::unique_ptr< KDL::Path > &path) const
	build cartesian velocity profile for the path More...

Protected Attributes inherited from pilz::TrajectoryGenerator
const pilz::LimitsContainer	planner_limits_

const robot_model::RobotModelConstPtr	robot_model_

Static Protected Attributes inherited from pilz::TrajectoryGenerator
static constexpr double	MAX_SCALING_FACTOR {1.}

static constexpr double	MIN_SCALING_FACTOR {0.0001}

static constexpr double	VELOCITY_TOLERANCE {1e-8}

Detailed Description

This class implements a trajectory generator of arcs in Cartesian space. The arc is specified by a start pose, a goal pose and a interim point on the arc, or a point as the center of the circle which forms the arc. Complete circle is not covered by this generator.

Definition at line 51 of file trajectory_generator_circ.h.

Constructor & Destructor Documentation

pilz::TrajectoryGeneratorCIRC::TrajectoryGeneratorCIRC	(	const robot_model::RobotModelConstPtr &	robot_model,
		const pilz::LimitsContainer &	planner_limits
	)

Constructor of CIRC Trajectory Generator.

Parameters

planner_limits Limits in joint and Cartesian spaces

Exceptions

TrajectoryGeneratorInvalidLimitsException

Definition at line 37 of file trajectory_generator_circ.cpp.

virtual pilz::TrajectoryGeneratorCIRC::~TrajectoryGeneratorCIRC ( )

virtualdefault

Member Function Documentation

void pilz::TrajectoryGeneratorCIRC::cmdSpecificRequestValidation ( const planning_interface::MotionPlanRequest & req ) const

overrideprivatevirtual

Reimplemented from pilz::TrajectoryGenerator.

Definition at line 47 of file trajectory_generator_circ.cpp.

void pilz::TrajectoryGeneratorCIRC::extractMotionPlanInfo	(	const planning_interface::MotionPlanRequest &	req,
		MotionPlanInfo &	info
	)		const

finaloverrideprivatevirtual

Extract needed information from a motion plan request in order to simplify further usages.

Parameters

req	motion plan request
info	information extracted from motion plan request which is necessary for the planning

Implements pilz::TrajectoryGenerator.

Definition at line 68 of file trajectory_generator_circ.cpp.

void pilz::TrajectoryGeneratorCIRC::plan	(	const planning_interface::MotionPlanRequest &	req,
		const MotionPlanInfo &	plan_info,
		const double &	sampling_time,
		trajectory_msgs::JointTrajectory &	joint_trajectory
	)

overrideprivatevirtual

Implements pilz::TrajectoryGenerator.

Definition at line 174 of file trajectory_generator_circ.cpp.

std::unique_ptr< KDL::Path > pilz::TrajectoryGeneratorCIRC::setPathCIRC ( const MotionPlanInfo & info ) const

private

Construct a KDL::Path object for a Cartesian path of an arc.

Returns: A unique pointer of the path object, null_ptr in case of an error.

Exceptions

CircleNoPlane	if the plane in which the circle resides, could not be determined.
CircleToSmall	if the specified circ radius is to small.
CenterPointDifferentRadius	if the distances between start-center and goal-center are different.

Definition at line 204 of file trajectory_generator_circ.cpp.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation