`GeneratePointToPointTrajectory` Class

Generate a joint-space point-to-point trajectory to move the robot from the start joint state to the target joint state. More...

Declaration

class moveit_pro::behaviors::GeneratePointToPointTrajectory { ... }

Included Headers

#include <generate_point_to_point_trajectory.hpp>

Base class

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

Public Constructors Index

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

Public Member Functions Index

BT::NodeStatus	tick () override

Public Static Functions Index

static BT::PortsList	providedPorts ()


static BT::KeyValueVector	metadata ()

Description

Generate a joint-space point-to-point trajectory to move the robot from the start joint state to the target joint state.

The output (joint_trajectory_msg) is a timed joint-space trajectory that is ready to be sent to a trajectory tracking controller. The first point in the trajectory will have a time_from_start equal to the value specified on the start_time input port and will be sampled at the rate specified on the trajectory_sampling_rate input port. 'velocity_scale_factor', 'acceleration_scale_factor', and 'jerk_scale_factor' control the desired joint-space motion as a fraction ([0,1]) of the maximum joint velocities, accelerations, and jerks defined in the MoveIt configs.

The behavior returns SUCCESS if a trajectory was successfully computed between the start and target joint states, or FAILURE otherwise.

Data Port Name	Port Type	Object Type
planning_group_name	Input	std::string
start_state	Input	moveit_msgs::msg::RobotState
target_state	Input	moveit_msgs::msg::RobotState
velocity_scale_factor	Input	double
acceleration_scale_factor	Input	double
jerk_scale_factor	Input	double
trajectory_sampling_rate	Input	unsigned int
start_time	Input	double
joint_trajectory_msg	Output	trajectory_msgs::msg::JointTrajectory

Definition at line 44 of file generate_point_to_point_trajectory.hpp.

Public Constructors