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Version: 4.6.0

Trajectory Generator panel

In the Trajectory Generator panel, two modes are available and both have different settings that will affect the trajectory generation :

Trajectory_generator.png

Optimized

The Optimized mode will generate the trajectory without respecting a constant speed constraint : each segment will be played at its maximum possible speed while respecting the Speed limit value.

  • The Speed limit is a value that can be set either by the text box or by the slider and that detemines the maximum speed at which each segment will be played.

Fixed

The Fixed mode will generate the trajectory with respect to a constant speed constraint : the whole trajectory will be played at a constant speed (except for a small acceleration and deceleration slope around pauses and the start and end of the trajectory). So every part of the trajectory will be played at the lowest maximum possible speed of each segment of the trajectory in order to keep a constant speed.

  • The Desired max speed is a Text box and a Cursor that allows to set the speed of the generated Trajectory.
  • The Warn if desired speed is not respected box can be ticked to get a warning popup if the trajectory cannot be played at the desired speed. As we’re making our trajectories in constant speed, if it has closed angle direction changes with small blending it greatly reduces the possible max speed of the trajectory.
  • The Possible max speed in red is a text that will show the actual possible max speed of the trajectory if played in constant speed if the actual max speed is lower than the Desired max speed
  • The Auto generation box will trigger a new generation every time a Waypoint’s position or Interpolation Type is changed or if the generation speed is changed. That is usefull to quickly see the output of the generation but it can also make the workflow slower due to the generation processing.
  • The Check for collision button will verify wether your trajectory will have collisions or not when playing it (collisions are based on the Digital twin only).
  • The Generate button//Force generation will trigger a new generation of the trajectory.