Blend a sequence of joint trajectories into a single trajectory with smooth transitions. More...

#include <blend_joint_trajectories.hpp>

Inheritance diagram for moveit_pro::behaviors::BlendJointTrajectories:

[legend]

Collaboration diagram for moveit_pro::behaviors::BlendJointTrajectories:

[legend]

Public Member Functions
	BlendJointTrajectories (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for BlendJointTrajectories behavior.

BT::NodeStatus	tick () override

Public Member Functions inherited from moveit_pro::behaviors::SharedResourcesNode< BT::SyncActionNode >
	SharedResourcesNode (const std::string &name, const BT::NodeConfiguration &config, const std::shared_ptr< BehaviorContext > &shared_resources)
	Constructor for SharedResourcesNode. Called by BT::BehaviorTreeFactory when creating a new behavior tree containing this node.

Static Public Member Functions
static BT::PortsList	providedPorts ()

static BT::KeyValueVector	metadata ()

Additional Inherited Members
Protected Attributes inherited from moveit_pro::behaviors::SharedResourcesNode< BT::SyncActionNode >
std::shared_ptr< BehaviorContext >	shared_resources_

Detailed Description

Blend a sequence of joint trajectories into a single trajectory with smooth transitions.

Takes a vector of JointTrajectory messages and produces a single blended trajectory. At each connection point between consecutive trajectories, a local blending segment is generated using Ruckig to smoothly transition from one trajectory to the next. The blending region is defined by a radius in joint-space Euclidean distance from each connection point. The individual trajectories are preserved outside the blending regions.

All input trajectory points must have position, velocity, and acceleration data populated.

Data Port Name	Port Type	Object Type
joint_trajectories	Input	std::vector<trajectory_msgs::msg::JointTrajectory>
planning_group_name	Input	std::string
connection_tolerance	Input	double
blending_radius	Input	double
velocity_scale_factor	Input	double
acceleration_scale_factor	Input	double
jerk_scale_factor	Input	double
trajectory_sampling_rate	Input	unsigned int
retime_after_blending	Input	bool
joint_trajectory_msg	Output	trajectory_msgs::msg::JointTrajectory

Constructor & Destructor Documentation

◆ BlendJointTrajectories()

moveit_pro::behaviors::BlendJointTrajectories::BlendJointTrajectories	(	const std::string &	name,
		const BT::NodeConfiguration &	config,
		const std::shared_ptr< BehaviorContext > &	shared_resources
	)

Constructor for BlendJointTrajectories behavior.

Parameters

name	The name of the behavior tree node.
config	The node configuration.
shared_resources	Shared resources including the robot model and logger.

Member Function Documentation

◆ metadata()

BT::KeyValueVector moveit_pro::behaviors::BlendJointTrajectories::metadata ( )

static

◆ providedPorts()

BT::PortsList moveit_pro::behaviors::BlendJointTrajectories::providedPorts ( )

static

◆ tick()

BT::NodeStatus moveit_pro::behaviors::BlendJointTrajectories::tick ( )

override

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions