Class TrajectoryMotionParam

Nested Relationships

Nested Types

Class Documentation

class TrajectoryMotionParam

An extended class that makes it easier to use the coordinate::Trajectory class that defines continuous point (CP) motion.

class TrajectoryArcMotionParam : public wmx3Api::TrajectoryMotionParam::TrajectoryBaseMotionParam<TrajectoryArcMotionParam>

Motion parameter class for circular and arc Continuous Path (CP) movements.

Defines parameters for generating circular and arc trajectories in Cartesian space. This class provides functionality for:

  • Circular arc motion generation

  • Three-point arc definition (start, intermediate, end)

  • Center point and angle-based arc definition

  • Tool orientation control during arc motion

Key features:

  • Multiple arc definition methods (3-point or center-angle)

  • Constant velocity along the arc

  • Optional tool orientation interpolation

  • Support for partial and full circles

  • Automatic radius calculation and validation

Remark

Arc motions are essential for operations requiring curved paths such as welding curved seams or following contoured surfaces

See also

Trajectory

See also

PoseArray

See also

RobotMotionProfile

Warning

Arc motion requires careful definition of points to ensure a valid circular path can be generated

Public Functions

TrajectoryArcMotionParam(const RobotMotionProfile &profile, const coordinate::CartesianPose &circularArcTarget)

Generate CP arc motion parameter which starts from current position to given target position.

Generate CP arc motion parameter which starts from current position, past the intermediate position, and to the target position.

Remark

Intermediate position is stored in ‘PoseArray’ class.

Parameters:

  • profile – [in] Motion profile parameter of the robot

  • circularArcTarget – [in] Target cartesian position

TrajectoryArcMotionParam(const RobotMotionProfile &profile, const coordinate::CartesianPose &circularArcEnd, const double targetRotateAngle, const bool executeRotationMotion = false)

Generate CP arc motion parameter with given positions and rotation angle.

Generate CP arc motion parameter which create circular path using current position, and end position, and which determine arc using given rotation angle.

Remark

Intermediate position is stored in ‘PoseArray’ class.

Parameters:

  • profile – [in] Motion profile parameter of the robot

  • circularArcEnd – [in] Virtual target cartesian position to determine the circle

  • targetRotateAngle – [in] The rotation angle [degree unit]

  • executeRotationMotion – [in] If true, the end-effector will rotate to the targetRotateAngle at the end of the arc motion.

class TrajectoryBSplineMotionParam : public wmx3Api::TrajectoryMotionParam::TrajectoryBaseMotionParam<TrajectoryBSplineMotionParam>

Motion parameter class for B-spline Continuous Path (CP) movements.

Defines parameters for generating smooth paths using B-spline interpolation. This class specializes in:

  • Local control of path shape

  • Path approximation through control points

  • Efficient curve computation

  • Flexible path modification

Key features:

  • Local path control (changes affect only nearby segments)

  • Path approximation (may not pass exactly through control points)

  • Automatic knot vector generation

  • Efficient computation even with many control points

  • Distance-based control point filtering

Advantages over C-spline:

  • Better local control of path shape

  • More numerically stable

  • Generally smoother paths

  • More efficient computation

Remark

B-spline paths are particularly useful for:

  • Complex path planning

  • Smooth motion with many control points

  • Applications requiring local path modification

See also

Trajectory

See also

PoseArray

See also

RobotMotionProfile

Public Functions

TrajectoryBSplineMotionParam(const RobotMotionProfile &profile)

Generate B-Spline motion parameter.

Generate B-Spline motion parameter based on ‘PoseArray’ class.

Remark

The number of points and the array of the points to path through are stored in ‘PoseArray’ class.

Parameters:

profile – [in] Motion profile parameter of the robot

TrajectoryBSplineMotionParam(const RobotMotionProfile &profile, double ignoreDistanceLessThan)

Generate B-Spline motion parameter.

Generate B-Spline motion parameter based on ‘PoseArray’ class.

Remark

The number of points and the array of the points to path through are stored in ‘PoseArray’ class.

Parameters:

  • profile – [in] Motion profile parameter of the robot

  • ignoreDistanceLessThan – [in] If the distace between a control point and the next is less than this value, the next is skipped. If the value is less than or equal to 0, the value is not used

class TrajectoryCSplineMotionParam : public wmx3Api::TrajectoryMotionParam::TrajectoryBaseMotionParam<TrajectoryCSplineMotionParam>

Motion parameter class for C-spline Continuous Path (CP) movements.

Defines parameters for generating smooth curved paths using C-spline interpolation. This class specializes in:

  • Smooth curve generation through multiple points

  • Continuous first and second derivatives

  • Automatic control point handling

  • Path optimization and smoothing

Key features:

  • Smooth path interpolation through control points

  • Automatic tangent calculation at control points

  • Path simplification with distance-based point filtering

  • Velocity and acceleration continuity

  • Support for arbitrary number of control points

Remark

C-spline paths provide smoother motion than linear or circular segments and are ideal for continuous, flowing movements

See also

Trajectory

See also

PoseArray

See also

RobotMotionProfile

Warning

The smoothness of the path depends on the spacing and arrangement of control points

Public Functions

TrajectoryCSplineMotionParam(const RobotMotionProfile &profile)

Generate C-Spline motion parameter.

Generate C-Spline motion parameter based on ‘PoseArray’ class.

Remark

The number of points and the array of the points to path through are stored in ‘PoseArray’ class.

Parameters:

profile – [in] Motion profile parameter of the robot

TrajectoryCSplineMotionParam(const RobotMotionProfile &profile, double ignoreDistanceLessThan)

Generate C-Spline motion parameter.

Generate C-Spline motion parameter based on ‘PoseArray’ class.

Remark

The number of points and the array of the points to path through are stored in ‘PoseArray’ class.

Parameters:

  • profile – [in] Motion profile parameter of the robot

  • ignoreDistanceLessThan – [in] If the distace between a control point and the next is less than this value, the next is skipped. If the value is less than or equal to 0, the value is not used

class TrajectoryLineMotionParam : public wmx3Api::TrajectoryMotionParam::TrajectoryBaseMotionParam<TrajectoryLineMotionParam>

Motion parameter class for linear Continuous Path (CP) movements.

Defines parameters for generating straight-line trajectories in Cartesian space. This class handles:

  • Linear interpolation between points

  • Constant velocity motion along straight paths

  • Tool orientation interpolation

  • Cartesian space constraints

Key features:

  • Direct point-to-point linear movements

  • Constant tool orientation or smooth orientation changes

  • Support for tool and world coordinate systems

  • Automatic velocity and acceleration profiling

  • Path accuracy monitoring and control

Remark

Linear motion provides the most predictable tool path and is commonly used for precise operations like welding or cutting

See also

Trajectory

See also

RobotMotionProfile

Public Functions

TrajectoryLineMotionParam(const RobotMotionProfile &profile, const coordinate::CartesianPose &destination, const bool isToolCoordinate = false)

Generate CP line motion.

Generate CP line motion parameter which starts from current position to given target position.

Parameters:

  • profile – [in] Motion profile parameter of the robot

  • destination – [in] Target cartesian position

  • isToolCoordinate – [in] If true, the destination is represented by tool coordination

class TrajectoryToolJogMotionParam : public wmx3Api::TrajectoryMotionParam::TrajectoryBaseMotionParam<TrajectoryToolJogMotionParam>

Motion parameter class for tool jogging in Continuous Path (CP) mode.

Defines parameters for incremental tool movement in Cartesian space. This class provides functionality for:

  • Manual tool positioning

  • Incremental Cartesian movements

  • Tool-centric or world-centric motion

  • Single-axis movement control

Key features:

  • Six degrees of freedom control (Tx, Ty, Tz, Rx, Ry, Rz)

  • Direction control (positive/negative)

  • Coordinate system selection (tool/world)

  • Safe incremental movement

  • Automatic velocity scaling

Common applications:

  • Fine positioning of end effector

  • Teaching robot positions

  • Process path verification

  • Maintenance and calibration

Remark

Tool jog motion is primarily used in manual operation and teaching modes for precise tool positioning

See also

Trajectory

See also

RobotMotionProfile

Public Functions

TrajectoryToolJogMotionParam(const RobotMotionProfile &profile, int axisId, char direction, bool isToolCoordinate = false)

Generate cartesian jog motion parameter.

Generate cartesian jog motion parameter given directions.

Parameters:

  • profile – [in] Motion profile parameter of the robot

  • axisId – [in] ID of the axis. Tx:0, Ty:1, Tz:2, Rx:3, Ry:4, Rz:5

  • direction – [in] Direction of the jog motion [ positive(1) or negative(-1)]

  • isToolCoordinate – [in] if true, the tool coordinate is used