Class MotionGenerator

Class Documentation

class MotionGenerator

An example showing how to generate a joint pose motion to a goal position. Adapted from: Wisama Khalil and Etienne Dombre. 2002. Modeling, Identification and Control of Robots (Kogan Page Science Paper edition).

Public Types

using Vector7d = Eigen::Matrix<double, 7, 1>

Public Functions

MotionGenerator(double speed_factor, const Vector7d &q_start, const Vector7d &q_goal)

Creates a new MotionGenerator instance for a target q.

Parameters:
  • speed_factor[in] General speed factor in range (0, 1].

  • q_start[in] Start joint positions.

  • q_goal[in] Target joint positions.

std::pair<Vector7d, bool> getDesiredJointPositions(const rclcpp::Duration &trajectory_time)

Sends joint position calculations

Parameters:
  • robot_state[in] Current state of the robot.

  • trajectory_time[in] Amount of time, that has passed since the start of the trajectory.

Returns:

Joint positions to use inside a control loop and a boolean indicating whether the motion is finished.