This class implements a linear trajectory generator in Cartesian space. The Cartesian trajetory are based on trapezoid velocity profile. More...

Inheritance diagram for pilz::TrajectoryGeneratorLIN:

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

virtual	~TrajectoryGeneratorLIN ()=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	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 >	setPathLIN (const Eigen::Affine3d &start_pose, const Eigen::Affine3d &goal_pose) const
	construct a KDL::Path object for a Cartesian straight line 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 linear trajectory generator in Cartesian space. The Cartesian trajetory are based on trapezoid velocity profile.

Definition at line 44 of file trajectory_generator_lin.h.

Constructor & Destructor Documentation

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

Constructor of LIN Trajectory Generator.

Exceptions

TrajectoryGeneratorInvalidLimitsException

Parameters

model	robot model
planner_limits	limits in joint and Cartesian spaces

virtual pilz::TrajectoryGeneratorLIN::~TrajectoryGeneratorLIN ( )

virtualdefault

void pilz::TrajectoryGeneratorLIN::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

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

overrideprivatevirtual

std::unique_ptr< KDL::Path > pilz::TrajectoryGeneratorLIN::setPathLIN	(	const Eigen::Affine3d &	start_pose,
		const Eigen::Affine3d &	goal_pose
	)		const

private

construct a KDL::Path object for a Cartesian straight line

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