Waypoints#

class Waypoint

A joint-space waypoint with possible position, velocity, and/or acceleration values.

Config position: The joint position at the waypoint.

Config velocity: The joint velocity at the waypoint.

Config acceleration: The joint acceleration at the waypoint.

Waypoint(const Config &position): Construct a waypoint with given position and zero velocity and acceleration.

Waypoint(const Config &position, const Config &velocity): Construct a waypoint with given position and velocity and zero acceleration.

Waypoint(const Config &position, const Config &velocity, const Config &acceleration): Construct a waypoint with given position, velocity, and acceleration.

class CartesianWaypoint

A Cartesian-space waypoint with possible position, velocity, and/or acceleration values.

Frame position: Frame of the position.

Frame velocity: Frame of the velocity.

Frame acceleration: Frame of the acceleration.

std::optional<Config> reference_config: An optional joint position that is used as a reference for inverse kinematics.

CartesianWaypoint(const Frame &position, std::optional<Config> reference_config = std::nullopt): Construct a Cartesian waypoint with given position and zero velocity and acceleration.

CartesianWaypoint(const Frame &position, const Frame &velocity, std::optional<Config> reference_config = std::nullopt): Construct a Cartesian waypoint with given position and velocity and zero acceleration.

CartesianWaypoint(const Frame &position, const Frame &velocity, const Frame &acceleration, std::optional<Config> reference_config = std::nullopt): Construct a Cartesian waypoint with given position, velocity, and acceleration.

class Region

A joint-space region with possible minimum and maximum position, velocity, and/or acceleration values.

Config min_position

Config max_position

Config min_velocity

Config max_velocity

Config min_acceleration

Config max_acceleration

class CartesianRegionBound

The min or max boundary of a Cartesian region.

double x: Translation along x-axis.

double y: Translation along y-axis.

double z: Translation along z-axis.

double gamma: Euler angle around the global z-axis.

double alpha: Angle from the global z-axis.

class CartesianRegion

A Cartesian-space region with possible minimum and maximum position, velocity, and/or acceleration values.

CartesianRegionBound min_position

CartesianRegionBound max_position

CartesianRegionBound min_velocity

CartesianRegionBound max_velocity

CartesianRegionBound min_acceleration

CartesianRegionBound max_acceleration

std::optional<Config> reference_config: An optional joint position that is used as a reference for inverse kinematics.

using Point = std::variant<Config, Waypoint, CartesianWaypoint, Region, CartesianRegion>: All types for speciying motion start or goals, either exact or by region.

using ExactPoint = std::variant<Config, Waypoint, CartesianWaypoint, Region, CartesianRegion>: All types for speciying exact start or goal points.