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

trajectory_generation::MotionConstraint::MotionConstraint ( )

inline

Member Function Documentation

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

inline

bool trajectory_generation::MotionConstraint::hasMaxAcceleration ( ) const

inline

bool trajectory_generation::MotionConstraint::hasMaxJerk ( ) const

inline

bool trajectory_generation::MotionConstraint::hasMaxPosition ( ) const

inline

bool trajectory_generation::MotionConstraint::hasMaxVelocity ( ) const

inline

bool trajectory_generation::MotionConstraint::hasMinPosition ( ) const

inline

void trajectory_generation::MotionConstraint::validate ( ) const

inline

Member Data Documentation

upperLimit trajectory_generation::MotionConstraint::max

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

double trajectory_generation::MotionConstraint::max_jerk

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