cartesian_timing.hpp File Reference

#include <optional>
#include <string>
#include <vector>
#include <Eigen/Core>
#include <tl_expected/expected.hpp>
#include <trajectory_msgs/msg/joint_trajectory.hpp>
#include "cartesian_planning/types.hpp"

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Classes
struct	cartesian_planning::CartesianLimits
	Cartesian velocity and acceleration limits for the trapezoidal profile. More...
struct	cartesian_planning::TrapezoidalProfileError
struct	cartesian_planning::ResampledTrajectory
	Resampled trajectory data at uniform control rate. More...

Namespaces
namespace	cartesian_planning

Enumerations
enum class	cartesian_planning::SaturationPhase { cartesian_planning::kRamp , cartesian_planning::kCruise }

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.
tl::expected< trajectory_msgs::msg::JointTrajectory, std::string >	cartesian_planning::toJointTrajectoryMessage (const ResampledTrajectory &trajectory, const std::vector< std::string > &joint_names)
	Convert a ResampledTrajectory into a JointTrajectory message.