Interface Trajectory

Trajectory JSON-object for this edge as a NURBS. Defines the curve, on which the mobile robot should move between the start node and the end node. Optional: Can be omitted, if mobile robot cannot process trajectories or if mobile robot plans its own trajectory.

Reports the trajectory that has been defined a priori within a layout or was sent for this edge as part of the order.

Hierarchy

  • Trajectory

Indexable

[property: string]: any

Properties

controlPoints degree? knotVector?

Properties

controlPoints

controlPoints: V3_0.ControlPoint[]

List of JSON controlPoint objects defining the control points of the NURBS, which includes the beginning and end point.

Optional degree

degree?: number

Degree of the NURBS curve defining the trajectory. If not defined, the default value is 1.

Optional knotVector

knotVector?: number[]

Sequence of parameter values that determines where and how the control points affect the NURBS curve.

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