Descartes Trajectory

Feature list

  • 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

Features required from hardware / driver

Message definition

[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