Factory that builds circular arc (encircle) trajectories. More...
#include <EncircleTrajectoryFactory.h>
Inheritance diagram for EncircleTrajectoryFactory:
Public Types | |
| using | Request = bb_controls_msgs::srv::EncircleTraj::Request |
Public Member Functions | |
| EncircleTrajectoryFactory (const Request &req, const State &origin, std::shared_ptr< Trajectory6DOFLimits > limits) | |
| Constructs the factory from an EncircleTraj service request. More... | |
| EncircleTrajectoryFactory & | with_origin_twist_threshold (double max_norm) |
| Sets the origin twist norm threshold below which the initial twist is zeroed. More... | |
| EncircleTrajectoryFactory & | with_frame_id (const std::string &frame_id) |
| Sets the TF world frame ID embedded in visualisation messages. More... | |
| std::unique_ptr< TrajectoryBase > | build () override |
| Builds and returns the configured encircle trajectory. More... | |
 Public Member Functions inherited from TrajectoryFactoryInterface | |
| virtual | ~TrajectoryFactoryInterface ()=default |
Detailed Description
Factory that builds circular arc (encircle) trajectories.
Parses and validates encircle parameters from an EncircleTraj service request and constructs an EncircleTrajectory. Uses a builder pattern to allow optional configuration after construction.
- See also
- EncircleTrajectory
Member Typedef Documentation
◆ Request
| using EncircleTrajectoryFactory::Request = bb_controls_msgs::srv::EncircleTraj::Request |
Constructor & Destructor Documentation
◆ EncircleTrajectoryFactory()
| EncircleTrajectoryFactory::EncircleTrajectoryFactory | ( | const Request & | req, |
| const State & | origin, | ||
| std::shared_ptr< Trajectory6DOFLimits > | limits | ||
| ) |
Constructs the factory from an EncircleTraj service request.
Validates that radius is positive, turn angle is non-zero, and spiral_proportion is in [0, 1].
- Parameters
-
req [in] Service request with radius, turn_angle, tangent_offset, and spiral_proportion origin [in] Starting vehicle state limits [in] Per-axis velocity and acceleration limits
Member Function Documentation
◆ build()
|
overridevirtual |
Builds and returns the configured encircle trajectory.
- Returns
- Unique pointer to the constructed EncircleTrajectory, or nullptr on failure
Implements TrajectoryFactoryInterface.
◆ with_frame_id()
| EncircleTrajectoryFactory & EncircleTrajectoryFactory::with_frame_id | ( | const std::string & | frame_id | ) |
Sets the TF world frame ID embedded in visualisation messages.
- Parameters
-
frame_id [in] TF frame ID string
- Returns
- Reference to this factory for method chaining
◆ with_origin_twist_threshold()
| EncircleTrajectoryFactory & EncircleTrajectoryFactory::with_origin_twist_threshold | ( | double | max_norm | ) |
Sets the origin twist norm threshold below which the initial twist is zeroed.
- Parameters
-
max_norm [in] Threshold on the L2 norm of the origin twist
- Returns
- Reference to this factory for method chaining
The documentation for this class was generated from the following files:
- include/trajectory/factory/EncircleTrajectoryFactory.h
- src/trajectory/factory/EncircleTrajectoryFactory.cpp
