trajectory_tools.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit_msgs/msg/robot_trajectory.hpp>
#include <moveit/robot_trajectory/robot_trajectory.h>
#include <moveit/trajectory_processing/time_optimal_trajectory_generation.h>
 
namespace trajectory_processing
{
bool isTrajectoryEmpty(const moveit_msgs::msg::RobotTrajectory& trajectory);
std::size_t trajectoryWaypointCount(const moveit_msgs::msg::RobotTrajectory& trajectory);
bool applyTOTGTimeParameterization(robot_trajectory::RobotTrajectory& trajectory, double velocity_scaling_factor,
                                   double acceleration_scaling_factor, double path_tolerance = 0.1,
                                   double resample_dt = 0.1, double min_angle_change = 0.001);
bool applyRuckigSmoothing(robot_trajectory::RobotTrajectory& trajectory, double velocity_scaling_factor,
                          double acceleration_scaling_factor, bool mitigate_overshoot = false,
                          double overshoot_threshold = 0.01);
 
[[nodiscard]] trajectory_msgs::msg::JointTrajectory
createTrajectoryMessage(const std::vector<std::string>& joint_names,
                        const trajectory_processing::Trajectory& trajectory, const int sampling_rate);
}  // namespace trajectory_processing