Parameters for the trajectory generation. More...

#include <pro_rrt.hpp>

Public Attributes
double	velocity_scale_factor = 1.0
	How much to scale the velocity of the trajectory, relative to the maximum robot velocity defined in configs.

double	acceleration_scale_factor = 1.0

unsigned int	sampling_rate = 100
	The sampling rate of the output trajectory in Hz.

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

Detailed Description

Parameters for the trajectory generation.

Member Data Documentation

◆ acceleration_scale_factor

double pro_rrt::TrajectoryParams::acceleration_scale_factor = 1.0

How much to scale the acceleration of the trajectory, relative to the maximum robot acceleration defined in configs.

◆ max_deviation

double pro_rrt::TrajectoryParams::max_deviation = moveit_pro::base::trajectory_processing::DEFAULT_PATH_TOLERANCE

Maximum distance the blended trajectory may deviate from the planned path at each intermediate waypoint, in radians for revolute joints or meters for prismatic joints. Must be greater than zero. Smaller values keep the trajectory closer to the collision-checked path at the corners at the cost of slower corners.

◆ sampling_rate

unsigned int pro_rrt::TrajectoryParams::sampling_rate = 100

The sampling rate of the output trajectory in Hz.

◆ velocity_scale_factor

double pro_rrt::TrajectoryParams::velocity_scale_factor = 1.0

How much to scale the velocity of the trajectory, relative to the maximum robot velocity defined in configs.

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