This library generate smooth trajectories in cartesian space in a functional style.
The idea is to specify a function that takes a start pose and a progress between 0 and 1 and spits out a pose.
This function is the
PoseGenerator. It is possible to directly define the function
or to combine a
PositionGenerator and an
Further, there are predefined PoseGenerators available. See
You should make sure that your own PoseGenerators have a constant derivative, that means that all if you would sample 1000 equidistant points, the length between neighboring points should be the same. Otherwise, some parts of your trajectory will end up faster than other ones.
PoseGenerators can be multiplied to generate a new PoseGenerator. Multiplication means that the homogenous matrices of both pose generators will be multiplied together for a certain progress.
Further, it is possible to combine PoseGenerators with the
which will concatenate both PoseGenerators. Be aware that concatenating PoseGenerators can result in unsmooth
trajectories. For example, if you append a circle PoseGenerator to a linear PoseGenerator, there will be an infinite
jerk at the transition as the acceleration suddenly changes.
With the final PoseGenerator it is now possible to add a VelocityProfile to it, which turns
the PoseGenerator into a
CartesianTrajectory which can be queried
with a start pose and a Duration.
The following images shows how this library can be used to create a complex trajectory
contains predefined PoseGenerators
Represents a trajectory in cartesian space. It contains a function which maps a start pose and time to the pose at that time and weather the trajectory is finished.
Struct that describes the output of
Struct that wraps a function that generates an orientation
Struct that wraps a function that generates a pose
Struct that wraps a function that generates a position
Custom Velocity Profile
output of the get function of a
Select one of the predefined Velocity Profiles
Generates a smooth cosine velocity profile which is indefinitely often continuously differentiable.
Generates a simple Linear Velocity Profile. It linearly maps the duration to a progress.
creates an S-Curve velocity profile which is subject to jerk, acceleration and velocity constraints