This class implements a point-to-point trajectory generator based on VelocityProfile_ATrap. More...

#include <trajectory_generator_ptp.h>

Inheritance diagram for pilz::TrajectoryGeneratorPTP:

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

virtual	~TrajectoryGeneratorPTP ()=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 override
	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

void	planPTP (const std::map< std::string, double > &start_pos, const std::map< std::string, double > &goal_pos, trajectory_msgs::JointTrajectory &joint_trajectory, const std::string &group_name, const double &velocity_scaling_factor, const double &acceleration_scaling_factor, const double &sampling_time)
	plan ptp joint trajectory with zero start velocity More...

Private Attributes
pilz::JointLimitsContainer	joint_limits_

const double	MIN_MOVEMENT = 0.001

std::map< std::string, pilz_extensions::JointLimit >	most_strict_limits_

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 point-to-point trajectory generator based on VelocityProfile_ATrap.

Definition at line 40 of file trajectory_generator_ptp.h.

Constructor & Destructor Documentation

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

Constructor of PTP Trajectory Generator.

Exceptions

TrajectoryGeneratorInvalidLimitsException

Parameters

model a map of joint limits information

Definition at line 28 of file trajectory_generator_ptp.cpp.

virtual pilz::TrajectoryGeneratorPTP::~TrajectoryGeneratorPTP ( )

virtualdefault

Member Function Documentation

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

overrideprivatevirtual

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 192 of file trajectory_generator_ptp.cpp.

void pilz::TrajectoryGeneratorPTP::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 241 of file trajectory_generator_ptp.cpp.

void pilz::TrajectoryGeneratorPTP::planPTP	(	const std::map< std::string, double > &	start_pos,
		const std::map< std::string, double > &	goal_pos,
		trajectory_msgs::JointTrajectory &	joint_trajectory,
		const std::string &	group_name,
		const double &	velocity_scaling_factor,
		const double &	acceleration_scaling_factor,
		const double &	sampling_time
	)

private

plan ptp joint trajectory with zero start velocity

Parameters

start_pos
goal_pos
joint_trajectory
group_name
velocity_scaling_factor
acceleration_scaling_factor
sampling_time

Definition at line 67 of file trajectory_generator_ptp.cpp.

Member Data Documentation

pilz::JointLimitsContainer pilz::TrajectoryGeneratorPTP::joint_limits_

private

Definition at line 83 of file trajectory_generator_ptp.h.

const double pilz::TrajectoryGeneratorPTP::MIN_MOVEMENT = 0.001

private

Definition at line 82 of file trajectory_generator_ptp.h.

std::map<std::string, pilz_extensions::JointLimit> pilz::TrajectoryGeneratorPTP::most_strict_limits_

private

Definition at line 85 of file trajectory_generator_ptp.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation