cartesian_timing.cpp File Reference

#include "cartesian_planning/cartesian_timing.hpp"
#include "cartesian_planning/math.hpp"
#include "moveit_pro_macros/macros.hpp"
#include <fmt/format.h>
#include <cmath>
#include <tuple>

Include dependency graph for cartesian_timing.cpp:

Namespaces
namespace	cartesian_planning

Functions
tl::expected< ResampledTrajectory, TrapezoidalProfileError >	cartesian_planning::fitCartesianTrapezoidalVelocityProfile (const Path &cartesian_path, const JointSpacePath &joint_path, const CartesianLimits &cartesian_limits, const Eigen::VectorXd &max_joint_velocities, const Eigen::VectorXd &max_joint_accelerations, int control_rate)
	Assign timestamps to a dense joint-space path so the Cartesian-space trajectory follows a trapezoidal velocity profile.

Variable Documentation

accel_distance

double accel_distance = 0.0

s_accel — arc length consumed during acceleration (seconds).

accel_duration

double accel_duration = 0.0

t_accel — wall-clock duration of the acceleration phase (seconds).

cruise_duration

double cruise_duration = 0.0

t_cruise — wall-clock duration of the cruise phase (seconds). 0 for triangle.

effective_accel

double effective_accel = 0.0

a_eff — effective acceleration (1/s).

is_triangle

bool is_triangle = false

True if the path is too short to reach cruise speed.

peak_speed

double peak_speed = 0.0

Peak s_dot: 1.0 for trapezoid, < 1.0 for triangle.

total_arc_length

double total_arc_length = 0.0

S — total path "time cost" at cruise speed (seconds).

total_duration

double total_duration = 0.0

T — total trajectory duration (seconds).