#include <cartesian_timing.hpp>

Public Attributes
std::string	message
	Human-readable description of the failure.

double	required_time_scale = 1.0
	Required time-dilation factor (> 1 means infeasible).

double	required_velocity_scale = 1.0
	Velocity scale factor: 1 / alpha_v (<= 1 when velocity is the bottleneck).

double	required_acceleration_scale = 1.0
	Acceleration scale factor: 1 / alpha_a^2 (<= 1 when acceleration is the bottleneck).

std::optional< size_t >	worst_violation_waypoint_index
	Index of the waypoint where the worst joint-limit violation occurred.

std::optional< size_t >	worst_violation_joint_index
	Index of the joint where the worst violation occurred.

Detailed 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.

Member Data Documentation

◆ message

std::string cartesian_planning::TrapezoidalProfileError::message

Human-readable description of the failure.

◆ required_acceleration_scale

double cartesian_planning::TrapezoidalProfileError::required_acceleration_scale = 1.0

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

◆ required_time_scale

double cartesian_planning::TrapezoidalProfileError::required_time_scale = 1.0

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

◆ required_velocity_scale

double cartesian_planning::TrapezoidalProfileError::required_velocity_scale = 1.0

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

◆ worst_violation_joint_index

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

Index of the joint where the worst violation occurred.

◆ worst_violation_waypoint_index

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

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

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

cartesian_timing.hpp

Public Attributes