- http://wiki.ros.org/descartes_trajectory
- https://github.com/ros-industrial-consortium/descartes/tree/melodic-devel/descartes_trajectory/include/descartes_trajectory
- https://github.com/ros-industrial/rep/blob/master/rep-I0003.rst
- Contains reference implementations for path sepcification and interface for more customized methods
- Offers three implementations for Trajectory Points
- Joint point [JointTrajectoryPt]: Represents a robot joint pose. It can accept tolerances for each joint
- Cartesian point [CartTrajectoryPt]: Defines the position and orientation of the tool relative to a world coordinate frame. It can also apply tolerances for the relevant variables that determine the tool pose.
- AxialSymmetric point (5DOF) [AxialSymmetricPt]: Extends the CartTrajectoryPt by specifying a free axis of rotation for the tool. Useful whenever the orientation about the tool’s approach vector doesn’t have to be defined.
- Hybrid Trajectories possible
- All trajectory points take an optional TimingConstraint
[JointTrajectoryPt]
TolerancedJointValue joints
Frame tool
Frame wobj
TimingConstraint timing
[CartTrajectoryPt]
Frame wobj_base
TolerancedFrame wobj_pt
Frame tool_base
TolerancedFrame tool_pt
double pos_increment
double orient_increment
TimingConstraint timing
[AxialSymmetricPt]
double x
double y
double z
double rx
double ry
double rz
double orient_increment
FreeAxis axis
TimingConstraint timing