#include <Trajectory.h>

Inheritance diagram for ocra::Trajectory:

Collaboration diagram for ocra::Trajectory:

Public Member Functions
	Trajectory ()

void	setMaxVelocity (double newMaxVel)

void	setMaxVelocity (const Eigen::VectorXd &newMaxVel)

double	getMaxVelocity ()

Eigen::VectorXd	getMaxVelocityVector ()

void	setMaxAcceleration (double newMaxAcc)

void	setMaxAcceleration (const Eigen::VectorXd &newMaxAcc)

double	getMaxAcceleration ()

Eigen::VectorXd	getMaxAccelerationVector ()

void	setWaypoints (const std::vector< double > &startingDoubleVec, const std::vector< double > &endingDoubleVec, const int waypointSelector=0, bool endsWithQuaternion=false)

void	setWaypoints (const Eigen::VectorXd &startingVector, const Eigen::VectorXd &endingVector, bool endsWithQuaternion=false)

void	setWaypoints (Eigen::Displacementd &startingDisplacement, Eigen::Displacementd &endingDisplacement, bool endsWithQuaternion=true)

void	setWaypoints (Eigen::Rotation3d &startingOrientation, Eigen::Rotation3d &endingOrientation, bool endsWithQuaternion=true)

void	setWaypoints (const std::list< Eigen::VectorXd > &_waypoints, bool _endsWithQuaternion=false)

void	setWaypoints (Eigen::MatrixXd &waypoints, bool endsWithQuaternion=false)

virtual	~Trajectory ()

void	setDuration ()

void	setDuration (const Eigen::VectorXd &_pointToPointDurationVector)

void	setDuration (double time)

bool	isFinished ()

virtual Eigen::MatrixXd	getDesiredValues (double time)

virtual void	getDesiredValues (double time, Eigen::MatrixXd &desiredValues, Eigen::VectorXd &variance)

Eigen::MatrixXd	getFullTrajectory (double dt=0.01)

void	getDesiredValues (double time, std::vector< double > &doubleVec)

void	getDesiredValues (double time, Eigen::Displacementd &disp)

void	getDesiredValues (double time, Eigen::Rotation3d &orient)

void	getDesiredValues (double time, Eigen::Displacementd &pos, Eigen::Twistd &vel, Eigen::Twistd &acc)

virtual double	getDuration ()

Eigen::Rotation3d	quaternionSlerp (double tau, Eigen::Rotation3d &qStart, Eigen::Rotation3d &qEnd)

Eigen::VectorXd	displacementToEigenVector (Eigen::Displacementd &disp)

Eigen::VectorXd	quaternionToEigenVector (Eigen::Rotation3d &quat)

bool	eigenVectorToStdVector (const Eigen::VectorXd &dispVec, std::vector< double > &doubleVec)

bool	eigenMatrixToStdVector (const Eigen::MatrixXd &dispMat, std::vector< double > &doubleVec)

bool	eigenVectorToDisplacement (const Eigen::VectorXd &dispVec, Eigen::Displacementd &disp)

bool	eigenVectorToQuaternion (const Eigen::VectorXd &quatVec, Eigen::Rotation3d &quat)

bool	eigenVectorToTwist (const Eigen::VectorXd &twistVec, Eigen::Twistd &twist)

virtual void	recalculateTrajectory ()

Protected Member Functions
virtual void	initializeTrajectory ()

Protected Attributes
double	maximumVelocity

Eigen::VectorXd	maximumVelocityVector

double	maximumAcceleration

Eigen::VectorXd	maximumAccelerationVector

std::list< Eigen::VectorXd >	waypointList

Eigen::MatrixXd	waypoints

int	nDoF

int	nWaypoints

bool	endsWithQuaternion

bool	startTrigger

int	currentWaypointIndex

int	nonRotationDof

Eigen::VectorXd	pointToPointDurationVector

double	pointToPointDuration

double	totalTrajectoryDuration

bool	usingDurationVector

bool	trajectoryFinished

Detailed Description

Definition at line 31 of file Trajectory.h.

Constructor & Destructor Documentation

ocra::Trajectory::Trajectory ( )

The Trajectory class. Constructor function.

Definition at line 18 of file Trajectory.cpp.

ocra::Trajectory::~Trajectory ( )

virtual

Definition at line 25 of file Trajectory.cpp.

Member Function Documentation

Eigen::VectorXd ocra::Trajectory::displacementToEigenVector ( Eigen::Displacementd & _disp )

Useful auxiliary functions

Convert from a Displacement (double) to and Eigen Vector (double) Stored as [x, y, z, qw, qx, qy, qz]^T

Definition at line 334 of file Trajectory.cpp.

bool ocra::Trajectory::eigenMatrixToStdVector	(	const Eigen::MatrixXd &	dispMat,
		std::vector< double > &	doubleVec
	)

Definition at line 384 of file Trajectory.cpp.

bool ocra::Trajectory::eigenVectorToDisplacement	(	const Eigen::VectorXd &	dispVec,
		Eigen::Displacementd &	disp
	)

Definition at line 402 of file Trajectory.cpp.

bool ocra::Trajectory::eigenVectorToQuaternion	(	const Eigen::VectorXd &	quatVec,
		Eigen::Rotation3d &	quat
	)

Definition at line 435 of file Trajectory.cpp.

bool ocra::Trajectory::eigenVectorToStdVector	(	const Eigen::VectorXd &	dispVec,
		std::vector< double > &	doubleVec
	)

Definition at line 372 of file Trajectory.cpp.

bool ocra::Trajectory::eigenVectorToTwist	(	const Eigen::VectorXd &	twistVec,
		Eigen::Twistd &	twist
	)

Definition at line 451 of file Trajectory.cpp.

virtual Eigen::MatrixXd ocra::Trajectory::getDesiredValues ( double time )

inlinevirtual

Reimplemented in ocra::GaussianProcessTrajectory, ocra::ExperimentalTrajectory, ocra::TimeOptimalTrajectory, ocra::LinearInterpolationTrajectory, and ocra::MinimumJerkTrajectory.

Definition at line 71 of file Trajectory.h.

virtual void ocra::Trajectory::getDesiredValues	(	double	time,
		Eigen::MatrixXd &	desiredValues,
		Eigen::VectorXd &	variance
	)

inlinevirtual

Reimplemented in ocra::GaussianProcessTrajectory, and ocra::ExperimentalTrajectory.

Definition at line 74 of file Trajectory.h.

void ocra::Trajectory::getDesiredValues	(	double	time,
		std::vector< double > &	doubleVec
	)

Definition at line 204 of file Trajectory.cpp.

void ocra::Trajectory::getDesiredValues	(	double	time,
		Eigen::Displacementd &	disp
	)

Definition at line 213 of file Trajectory.cpp.

void ocra::Trajectory::getDesiredValues	(	double	time,
		Eigen::Rotation3d &	orient
	)

Definition at line 220 of file Trajectory.cpp.

void ocra::Trajectory::getDesiredValues	(	double	time,
		Eigen::Displacementd &	pos,
		Eigen::Twistd &	vel,
		Eigen::Twistd &	acc
	)

Definition at line 227 of file Trajectory.cpp.

virtual double ocra::Trajectory::getDuration ( )

inlinevirtual

Reimplemented in ocra::GaussianProcessTrajectory, and ocra::TimeOptimalTrajectory.

Definition at line 89 of file Trajectory.h.

Eigen::MatrixXd ocra::Trajectory::getFullTrajectory ( double dt = 0.01 )

Definition at line 484 of file Trajectory.cpp.

double ocra::Trajectory::getMaxAcceleration ( )

Definition at line 194 of file Trajectory.cpp.

Eigen::VectorXd ocra::Trajectory::getMaxAccelerationVector ( )

Definition at line 199 of file Trajectory.cpp.

double ocra::Trajectory::getMaxVelocity ( )

Definition at line 167 of file Trajectory.cpp.

Eigen::VectorXd ocra::Trajectory::getMaxVelocityVector ( )

Definition at line 172 of file Trajectory.cpp.

virtual void ocra::Trajectory::initializeTrajectory ( )

inlineprotectedvirtual

Reimplemented in ocra::GaussianProcessTrajectory, ocra::ExperimentalTrajectory, and ocra::TimeOptimalTrajectory.

Definition at line 108 of file Trajectory.h.

bool ocra::Trajectory::isFinished ( )

inline

Definition at line 67 of file Trajectory.h.

Eigen::Rotation3d ocra::Trajectory::quaternionSlerp	(	double	tau,
		Eigen::Rotation3d &	qStart,
		Eigen::Rotation3d &	qEnd
	)

Parameters

_tau	Interpolation variable, 0 <= tau <= 1. Should be something like time/duration.
_qStart	Starting quaternion
_qEnd	Ending quaternion

Definition at line 241 of file Trajectory.cpp.

Eigen::VectorXd ocra::Trajectory::quaternionToEigenVector ( Eigen::Rotation3d & quat )

Convert from a Quaternion (double) to and Eigen Vector (double) Stored as [qw, qx, qy, qz]^T

Definition at line 355 of file Trajectory.cpp.

virtual void ocra::Trajectory::recalculateTrajectory ( )

inlinevirtual

Reimplemented in ocra::TimeOptimalTrajectory.

Definition at line 104 of file Trajectory.h.

void ocra::Trajectory::setDuration ( )

Definition at line 284 of file Trajectory.cpp.

void ocra::Trajectory::setDuration ( const Eigen::VectorXd & _pointToPointDurationVector )

Definition at line 300 of file Trajectory.cpp.

void ocra::Trajectory::setDuration ( double time )

Definition at line 314 of file Trajectory.cpp.

void ocra::Trajectory::setMaxAcceleration ( double newMaxAcc )

Definition at line 177 of file Trajectory.cpp.

void ocra::Trajectory::setMaxAcceleration ( const Eigen::VectorXd & newMaxAcc )

Definition at line 185 of file Trajectory.cpp.

void ocra::Trajectory::setMaxVelocity ( double newMaxVel )

Definition at line 150 of file Trajectory.cpp.

void ocra::Trajectory::setMaxVelocity ( const Eigen::VectorXd & newMaxVel )

Definition at line 158 of file Trajectory.cpp.

void ocra::Trajectory::setWaypoints	(	const std::vector< double > &	startingDoubleVec,
		const std::vector< double > &	endingDoubleVec,
		const int	waypointSelector = `0`,
		bool	endsWithQuaternion = `false`
	)

Definition at line 30 of file Trajectory.cpp.

void ocra::Trajectory::setWaypoints	(	const Eigen::VectorXd &	startingVector,
		const Eigen::VectorXd &	endingVector,
		bool	endsWithQuaternion = `false`
	)

Definition at line 58 of file Trajectory.cpp.

void ocra::Trajectory::setWaypoints	(	Eigen::Displacementd &	startingDisplacement,
		Eigen::Displacementd &	endingDisplacement,
		bool	endsWithQuaternion = `true`
	)

Definition at line 76 of file Trajectory.cpp.

void ocra::Trajectory::setWaypoints	(	Eigen::Rotation3d &	startingOrientation,
		Eigen::Rotation3d &	endingOrientation,
		bool	endsWithQuaternion = `true`
	)

Definition at line 93 of file Trajectory.cpp.

void ocra::Trajectory::setWaypoints	(	const std::list< Eigen::VectorXd > &	_waypoints,
		bool	_endsWithQuaternion = `false`
	)

Initialization function

Definition at line 111 of file Trajectory.cpp.

void ocra::Trajectory::setWaypoints	(	Eigen::MatrixXd &	waypoints,
		bool	endsWithQuaternion = `false`
	)

Initialization function

Definition at line 129 of file Trajectory.cpp.

Member Data Documentation

int ocra::Trajectory::currentWaypointIndex

protected

used for keeping track of waypoints during execution

Definition at line 122 of file Trajectory.h.

bool ocra::Trajectory::endsWithQuaternion

protected

weather or not there is a quaternion component of the trajectory - this is needed for interpolation considerations

Definition at line 120 of file Trajectory.h.

double ocra::Trajectory::maximumAcceleration

protected

Definition at line 112 of file Trajectory.h.

Eigen::VectorXd ocra::Trajectory::maximumAccelerationVector

protected

Definition at line 113 of file Trajectory.h.

double ocra::Trajectory::maximumVelocity

protected

Definition at line 108 of file Trajectory.h.

Eigen::VectorXd ocra::Trajectory::maximumVelocityVector

protected

Definition at line 111 of file Trajectory.h.

int ocra::Trajectory::nDoF

protected

the number of Degrees of Freedom (DoF) of the trajectory

Definition at line 118 of file Trajectory.h.

int ocra::Trajectory::nonRotationDof

protected

the number of DoF which are not part of the quaternion

Definition at line 123 of file Trajectory.h.

int ocra::Trajectory::nWaypoints

protected

the total number of waypoints

Definition at line 119 of file Trajectory.h.

double ocra::Trajectory::pointToPointDuration

protected

the total duration between the current two waypoints

Definition at line 127 of file Trajectory.h.

Eigen::VectorXd ocra::Trajectory::pointToPointDurationVector

protected

the estimated durations between points

Definition at line 126 of file Trajectory.h.

bool ocra::Trajectory::startTrigger

protected

used for zeroing the trajectory time

Definition at line 121 of file Trajectory.h.

double ocra::Trajectory::totalTrajectoryDuration

protected

Definition at line 128 of file Trajectory.h.

bool ocra::Trajectory::trajectoryFinished

protected

Definition at line 130 of file Trajectory.h.

bool ocra::Trajectory::usingDurationVector

protected

Definition at line 129 of file Trajectory.h.

std::list<Eigen::VectorXd> ocra::Trajectory::waypointList

protected

Definition at line 116 of file Trajectory.h.

Eigen::MatrixXd ocra::Trajectory::waypoints

protected

the trajectory waypoints

Definition at line 117 of file Trajectory.h.

The documentation for this class was generated from the following files:

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation