trajectory_processing
include
moveit
trajectory_processing
limit_cartesian_speed.h
Go to the documentation of this file.
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2020, Benjamin Scholz
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* Copyright (c) 2021, Thies Oelerich
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/* Authors: Benjamin Scholz, Thies Oelerich */
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#pragma once
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#include <
moveit/macros/class_forward.h
>
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#include <string>
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namespace
trajectory_processing
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{
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MOVEIT_CLASS_FORWARD
(RobotTrajectory);
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}
// namespace trajectory_processing
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namespace
trajectory_processing
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{
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bool
limitMaxCartesianLinkSpeed
(
robot_trajectory::RobotTrajectory
& trajectory,
const
double
speed,
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const
moveit::core::LinkModel
* link_model);
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bool
limitMaxCartesianLinkSpeed
(
robot_trajectory::RobotTrajectory
& trajectory,
const
double
speed,
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const
std::string& link_name =
""
);
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}
// namespace trajectory_processing
moveit::core::LinkModel
A link from the robot. Contains the constant transform applied to the link and its geometry.
Definition:
link_model.h:71
class_forward.h
robot_trajectory::RobotTrajectory
Maintain a sequence of waypoints and the time durations between these waypoints.
Definition:
robot_trajectory.h:84
trajectory_processing::limitMaxCartesianLinkSpeed
bool limitMaxCartesianLinkSpeed(robot_trajectory::RobotTrajectory &trajectory, const double speed, const moveit::core::LinkModel *link_model)
Definition:
limit_cartesian_speed.cpp:83
trajectory_processing
Definition:
iterative_spline_parameterization.h:43
trajectory_processing::MOVEIT_CLASS_FORWARD
MOVEIT_CLASS_FORWARD(IterativeParabolicTimeParameterization)
This class modifies the timestamps of a trajectory to respect velocity and acceleration constraints.
moveit_core
Author(s): Ioan Sucan
, Sachin Chitta
, Acorn Pooley
autogenerated on Tue Dec 24 2024 03:27:14