`BlendJointTrajectories` Class

Blend a sequence of joint trajectories into a single trajectory with smooth transitions. More...

Declaration

class moveit_pro::behaviors::BlendJointTrajectories { ... }

Included Headers

#include <blend_joint_trajectories.hpp>

Base class

class	SharedResourcesNode<BehaviorTreeNodeT>
	The SharedResourcesNode class provides a BehaviorContext object when constructing a BehaviorTree.Cpp node. More...

Public Constructors Index

	BlendJointTrajectories (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for BlendJointTrajectories behavior. More...

Public Member Functions Index

BT::NodeStatus	tick () override

Public Static Functions Index

static BT::PortsList	providedPorts ()


static BT::KeyValueVector	metadata ()

Description

Blend a sequence of joint trajectories into a single trajectory with smooth transitions.

Takes a vector of JointTrajectory messages and produces a single blended trajectory. At each connection point between consecutive trajectories, a local blending segment is generated using Ruckig to smoothly transition from one trajectory to the next. The blending region is defined by a radius in joint-space Euclidean distance from each connection point. The individual trajectories are preserved outside the blending regions.

All input trajectory points must have position, velocity, and acceleration data populated.

Data Port Name	Port Type	Object Type
joint_trajectories	Input	std::vector<trajectory_msgs::msg::JointTrajectory>
planning_group_name	Input	std::string
connection_tolerance	Input	double
blending_radius	Input	double
velocity_scale_factor	Input	double
acceleration_scale_factor	Input	double
jerk_scale_factor	Input	double
trajectory_sampling_rate	Input	unsigned int
retime_after_blending	Input	bool
joint_trajectory_msg	Output	trajectory_msgs::msg::JointTrajectory

Definition at line 42 of file blend_joint_trajectories.hpp.

Public Constructors