iterative_spline_parameterization.h
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35 
36 /* Author: Ken Anderson */
37 
38 #ifndef MOVEIT_TRAJECTORY_PROCESSING_ITERATIVE_SPLINE_PARAMETERIZATION__
39 #define MOVEIT_TRAJECTORY_PROCESSING_ITERATIVE_SPLINE_PARAMETERIZATION__
40 
41 #include <trajectory_msgs/JointTrajectory.h>
42 #include <moveit_msgs/JointLimits.h>
43 #include <moveit_msgs/RobotState.h>
45 
47 {
75 {
76 public:
77  IterativeSplineParameterization(bool add_points = true);
79 
80  bool computeTimeStamps(robot_trajectory::RobotTrajectory& trajectory, const double max_velocity_scaling_factor = 1.0,
81  const double max_acceleration_scaling_factor = 1.0) const;
82 
83 private:
84  bool add_points_;
85 };
87 }
88 
89 #endif
robot_trajectory::RobotTrajectory trajectory(rmodel, "right_arm")
Maintain a sequence of waypoints and the time durations between these waypoints.
bool computeTimeStamps(robot_trajectory::RobotTrajectory &trajectory, const double max_velocity_scaling_factor=1.0, const double max_acceleration_scaling_factor=1.0) const
This class sets the timestamps of a trajectory to enforce velocity, acceleration constraints. Initial/final velocities and accelerations may be specified in the trajectory. Velocity and acceleration limits are specified in the model.


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Dec 2 2019 03:56:58