trajectory_utils.hpp File Reference

#include <moveit/robot_model/joint_model_group.hpp>
#include <moveit/trajectory_processing/time_optimal_trajectory_generation.hpp>
#include <tl_expected/expected.hpp>

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Namespaces
namespace	cartesian_planning

Functions
tl::expected< trajectory_processing::Trajectory, std::string >	cartesian_planning::createTrajectoryFromWaypoints (const std::vector< Eigen::VectorXd > &waypoints, const Eigen::VectorXd &max_joint_velocities, const Eigen::VectorXd &max_joint_accelerations, const double velocity_scale_factor, const double acceleration_scale_factor)
	Create a trajectory from a list of waypoints using the trajectory_processing library.
tl::expected< trajectory_msgs::msg::JointTrajectory, std::string >	cartesian_planning::createTrajectoryFromWaypoints (const moveit::core::JointModelGroup &group, const std::vector< Eigen::VectorXd > &waypoints, const double velocity_scale_factor, const double acceleration_scale_factor, const int sampling_rate)
	Create a trajectory message from a list of waypoints.
tl::expected< void, std::string >	cartesian_planning::appendToTrajectoryMessage (const std::vector< std::string > &joint_names, const trajectory_processing::Trajectory &trajectory, int sampling_rate, trajectory_msgs::msg::JointTrajectory &trajectory_msg)
	Sample a trajectory_processing::Trajectory at a frequency, and append to a JointTrajectory message.