trajectory_generation::MotionConstraint Struct Reference

#include <trajectory_generationTypes.hpp>

Classes
struct	lowerLimit
struct	upperLimit

Public Member Functions
	MotionConstraint ()
bool	hasMaxPosition () const
bool	hasMinPosition () const
bool	hasMaxVelocity () const
bool	hasMaxAcceleration () const
bool	hasMaxJerk () const
void	validate () const
void	applyDefaultIfUnset (const MotionConstraint &default_constraints)

Public Attributes
double	max_jerk
upperLimit	max
lowerLimit	min

Detailed Description

Motion constraints to define the dynamic behavior of the trajectories generated by this component

Constructor & Destructor Documentation

MotionConstraint()

trajectory_generation::MotionConstraint::MotionConstraint ( )

inline

Member Function Documentation

applyDefaultIfUnset()

void trajectory_generation::MotionConstraint::applyDefaultIfUnset ( const MotionConstraint &  default_constraints )

inline

hasMaxAcceleration()

bool trajectory_generation::MotionConstraint::hasMaxAcceleration ( ) const

inline

hasMaxJerk()

bool trajectory_generation::MotionConstraint::hasMaxJerk ( ) const

inline

hasMaxPosition()

bool trajectory_generation::MotionConstraint::hasMaxPosition ( ) const

inline

hasMaxVelocity()

bool trajectory_generation::MotionConstraint::hasMaxVelocity ( ) const

inline

hasMinPosition()

bool trajectory_generation::MotionConstraint::hasMinPosition ( ) const

inline

validate()

void trajectory_generation::MotionConstraint::validate ( ) const

inline

Member Data Documentation

max

upperLimit trajectory_generation::MotionConstraint::max

Maximum joint or Cartesian jerk (derivative of acceleration). In rad/sss or m/sss. (has to be > 0)

max_jerk

double trajectory_generation::MotionConstraint::max_jerk

min

lowerLimit trajectory_generation::MotionConstraint::min

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

• /build/rock-master-18.09-control-orogen-trajectory-generation-0.20180822/trajectory_generationTypes.hpp