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TrajectoryParams Struct

Parameters for the trajectory generation. More...

Declaration​

struct pro_rrt::TrajectoryParams { ... }

Included Headers​

#include <pro_rrt.hpp>

Public Member Attributes Index​

doublevelocity_scale_factor = 1.0

How much to scale the velocity of the trajectory, relative to the maximum robot velocity defined in configs. More...

doubleacceleration_scale_factor = 1.0
unsigned intsampling_rate = 100

The sampling rate of the output trajectory in Hz. More...

doublemax_deviation = moveit_pro::base::trajectory_processing::DEFAULT_PATH_TOLERANCE

Description​

Parameters for the trajectory generation.

Definition at line 146 of file pro_rrt.hpp.

Public Member Attributes​

acceleration_scale_factor​

double pro_rrt::TrajectoryParams::acceleration_scale_factor = 1.0

How much to scale the acceleration of the trajectory, relative to the maximum robot acceleration defined in configs.

Definition at line 153 of file pro_rrt.hpp.

max_deviation​

double pro_rrt::TrajectoryParams::max_deviation = moveit_pro::base::trajectory_processing::DEFAULT_PATH_TOLERANCE

Maximum distance the blended trajectory may deviate from the planned path at each intermediate waypoint, in radians for revolute joints or meters for prismatic joints. Must be greater than zero. Smaller values keep the trajectory closer to the collision-checked path at the corners at the cost of slower corners.

Definition at line 161 of file pro_rrt.hpp.

sampling_rate​

unsigned int pro_rrt::TrajectoryParams::sampling_rate = 100

The sampling rate of the output trajectory in Hz.

Definition at line 156 of file pro_rrt.hpp.

velocity_scale_factor​

double pro_rrt::TrajectoryParams::velocity_scale_factor = 1.0

How much to scale the velocity of the trajectory, relative to the maximum robot velocity defined in configs.

Definition at line 149 of file pro_rrt.hpp.

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

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