Crate cartesian_trajectories[−][src]
This library generate smooth trajectories in cartesian space in a functional style.
Overview
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 OrientationGenerator
.
Further, there are predefined PoseGenerators available. See pose_generators
.
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 append
method,
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 the get_pose
method
with a start pose and a Duration.
The following images shows how this library can be used to create a complex trajectory
Re-exports
pub use crate::pose_generators::generate_absolute_motion; | |
pub use crate::pose_generators::generate_circle_motion; | |
pub use crate::pose_generators::generate_relative_motion; | |
pub use crate::pose_generators::RelativeMotionFrame; | |
pub use s_curve; |
Modules
pose_generators | contains predefined PoseGenerators |
Structs
CartesianTrajectory | 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. |
CartesianTrajectoryOutput | Struct that describes the output of |
OrientationGenerator | Struct that wraps a function that generates an orientation |
PoseGenerator | Struct that wraps a function that generates a pose |
PositionGenerator | Struct that wraps a function that generates a position |
VelocityProfileMapping | Custom Velocity Profile |
VelocityProfileOutput | output of the get function of a |
Enums
VelocityProfile | Select one of the predefined Velocity Profiles |
Functions
generate_cosine_velocity_profile | Generates a smooth cosine velocity profile which is indefinitely often continuously differentiable. |
generate_linear_velocity_profile | Generates a simple Linear Velocity Profile. It linearly maps the duration to a progress. |
generate_s_curve_profile | creates an S-Curve velocity profile which is subject to jerk, acceleration and velocity constraints |