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TrapezoidalProfileError Struct

Declaration​

struct path_ik::TrapezoidalProfileError { ... }

Included Headers​

#include <cartesian_timing.hpp>

Public Member Attributes Index​

std::stringmessage

Human-readable description of the failure. More...

doublerequired_time_scale = 1.0

Required time-dilation factor (> 1 means infeasible). More...

doublerequired_velocity_scale = 1.0

Velocity scale factor: 1 / alpha_v (<= 1 when velocity is the bottleneck). More...

doublerequired_acceleration_scale = 1.0

Acceleration scale factor: 1 / alpha_a^2 (<= 1 when acceleration is the bottleneck). More...

std::optional< size_t >worst_violation_waypoint_index

Index of the waypoint where the worst joint-limit violation occurred. More...

std::optional< size_t >worst_violation_joint_index

Index of the joint where the worst violation occurred. More...

std::optional< SaturationPhase >acceleration_saturation_phase

Description​

Error returned when the trapezoidal profile is infeasible due to joint limits.

Contains diagnostic information so the caller can retry with relaxed limits. The caller can use required_time_scale to scale all limits consistently: v_t_max / alpha, v_r_max / alpha, a_t_max / alpha^2, a_r_max / alpha^2.

Definition at line 45 of file cartesian_timing.hpp.

Public Member Attributes​

acceleration_saturation_phase​

std::optional<SaturationPhase> path_ik::TrapezoidalProfileError::acceleration_saturation_phase

Phase of the worst joint-acceleration violation, set only when acceleration is the binding limit (otherwise nullopt). See SaturationPhase for how the phase maps to the remedy.

Definition at line 67 of file cartesian_timing.hpp.

message​

std::string path_ik::TrapezoidalProfileError::message

Human-readable description of the failure.

Definition at line 48 of file cartesian_timing.hpp.

required_acceleration_scale​

double path_ik::TrapezoidalProfileError::required_acceleration_scale = 1.0

Acceleration scale factor: 1 / alpha_a^2 (<= 1 when acceleration is the bottleneck).

Definition at line 57 of file cartesian_timing.hpp.

required_time_scale​

double path_ik::TrapezoidalProfileError::required_time_scale = 1.0

Required time-dilation factor (> 1 means infeasible).

Definition at line 51 of file cartesian_timing.hpp.

required_velocity_scale​

double path_ik::TrapezoidalProfileError::required_velocity_scale = 1.0

Velocity scale factor: 1 / alpha_v (<= 1 when velocity is the bottleneck).

Definition at line 54 of file cartesian_timing.hpp.

worst_violation_joint_index​

std::optional<size_t> path_ik::TrapezoidalProfileError::worst_violation_joint_index

Index of the joint where the worst violation occurred.

Definition at line 63 of file cartesian_timing.hpp.

worst_violation_waypoint_index​

std::optional<size_t> path_ik::TrapezoidalProfileError::worst_violation_waypoint_index

Index of the waypoint where the worst joint-limit violation occurred.

Definition at line 60 of file cartesian_timing.hpp.

The documentation for this struct was generated from the following file:

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