Class TrajectoryBlender
Defined in File trajectory_blender.h
Inheritance Relationships
Derived Type
public pilz_industrial_motion_planner::TrajectoryBlenderTransitionWindow
(Class TrajectoryBlenderTransitionWindow)
Class Documentation
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class TrajectoryBlender
Base class of trajectory blenders.
Subclassed by pilz_industrial_motion_planner::TrajectoryBlenderTransitionWindow
Public Functions
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inline TrajectoryBlender(const pilz_industrial_motion_planner::LimitsContainer &planner_limits)
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inline virtual ~TrajectoryBlender()
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virtual bool blend(const planning_scene::PlanningSceneConstPtr &planning_scene, const pilz_industrial_motion_planner::TrajectoryBlendRequest &req, pilz_industrial_motion_planner::TrajectoryBlendResponse &res) = 0
Blend two robot trajectories with the given blending radius.
- Parameters:
planning_scene – planning scene
req – trajectory blend request
res – trajectroy blend response
- Returns:
true if blend succeed
Protected Attributes
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const pilz_industrial_motion_planner::LimitsContainer limits_
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inline TrajectoryBlender(const pilz_industrial_motion_planner::LimitsContainer &planner_limits)