trajectories_processors_lib is a C++ library designed for processing and managing robot trajectories.
The TrajectoryProcessorBase class provides a base for processing trajectories. It includes the following members:
- Members:
KinodynamicConstraints kinodynamic_constraints_: The kinodynamic constraints of the robot.std::vector<Eigen::VectorXd> path_: The path for which the time law need to be computed.std::deque<TrjPoint> trj_: The computed trajectory.std::string param_ns_: The namespace under which to read the parameters.cnr_logger::TraceLoggerPtr logger_: The logger for logging purposes.
The main functions of the class are:
computeTrj: computes the time law for the given path, optionally with given starting and ending conditions.interpolate: interpolates the computed trajectory to obtain the trajectory point at the desired time instant.
Represents a robot state, including position, velocity, acceleration, and effort.
- Members:
std::vector<double> pos_std::vector<double> vel_std::vector<double> acc_std::vector<double> eff_
Represents a trajectory point, consisting of a robot state and a time from the trajectory start.
- Members:
robot_state state_double time_from_start_
Represents the kinodynamic constraints of the robot.
- Members:
Eigen::VectorXd min_pos_Eigen::VectorXd min_vel_Eigen::VectorXd min_acc_Eigen::VectorXd min_eff_Eigen::VectorXd max_pos_Eigen::VectorXd max_vel_Eigen::VectorXd max_acc_Eigen::VectorXd max_eff_
Include the library headers in your project:
#include <trajectories_processors_lib/trajectory_processor_base.h>
or
#include <trajectories_processors_lib/spline_trajectory_processor.h>trajectories_processors_lib/spline_trajectory_processor.h extends the base class by providing spline interpolations with selectable order from 0 to 4.
You might be interested in moveit_trajectory_processor.