path_ik::TrajectoryOptions Struct Reference

Options for creating a time-parameterized trajectory from waypoints. More...

#include <trajectory_utils.hpp>

Public Attributes
double	velocity_scale_factor = 1.0
	Scale factor for the maximum joint velocities.
double	acceleration_scale_factor = 1.0
	Scale factor for the maximum joint accelerations.
int	sampling_rate = 100
	Sampling rate of the output trajectory message, in Hz.
double	max_deviation = moveit_pro::base::trajectory_processing::DEFAULT_PATH_TOLERANCE
	Maximum distance the blended trajectory may deviate from the waypoint polyline at each intermediate waypoint.

Detailed Description

Options for creating a time-parameterized trajectory from waypoints.

Member Data Documentation

acceleration_scale_factor

double path_ik::TrajectoryOptions::acceleration_scale_factor = 1.0

Scale factor for the maximum joint accelerations.

max_deviation

double path_ik::TrajectoryOptions::max_deviation = moveit_pro::base::trajectory_processing::DEFAULT_PATH_TOLERANCE

Maximum distance the blended trajectory may deviate from the waypoint polyline at each intermediate waypoint.

sampling_rate

int path_ik::TrajectoryOptions::sampling_rate = 100

Sampling rate of the output trajectory message, in Hz.

velocity_scale_factor

double path_ik::TrajectoryOptions::velocity_scale_factor = 1.0

Scale factor for the maximum joint velocities.

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

• trajectory_utils.hpp