`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.

Independent continuous joints use the equivalent target nearest the supplied start. Target positions do not request extra revolutions. Joints with mimic coupling keep their supplied targets.

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 47 of file generate_point_to_point_trajectory.hpp.

Public Constructors