#include <ExperimentalTrajectory.h>

Inheritance diagram for ocra::ExperimentalTrajectory:

Collaboration diagram for ocra::ExperimentalTrajectory:

Public Member Functions
void	calculateVarianceParameters ()

Eigen::MatrixXd	getDesiredValues (double time)

Eigen::VectorXd	getVariance (double time)

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

void	getDesiredValues (double time, Eigen::Displacementd &position, Eigen::Twistd &velocity, Eigen::Twistd &acceleration)

double	getMaxVariance ()

Eigen::MatrixXd	getWaypointData ()

void	addNewWaypoint (Eigen::VectorXd newWaypoint, double waypointTime)

void	removeYoungestWaypoint ()

void	removeWaypoint (int index)

Eigen::MatrixXd	getRbfnKernelCurves ()

Public Member Functions inherited from ocra::Trajectory
	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 ()

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	t0

double	t0_variance

bool	varianceStartTrigger

Protected Attributes inherited from ocra::Trajectory
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 11 of file ExperimentalTrajectory.h.

Member Function Documentation

void ocra::ExperimentalTrajectory::addNewWaypoint	(	Eigen::VectorXd	newWaypoint,
		double	waypointTime
	)

Definition at line 327 of file ExperimentalTrajectory.cpp.

void ocra::ExperimentalTrajectory::calculateVarianceParameters ( )

Definition at line 12 of file ExperimentalTrajectory.cpp.

Eigen::MatrixXd ocra::ExperimentalTrajectory::getDesiredValues ( double time )

virtual

For details on the analytical point to point min-jerk formulation see: http://www.jneurosci.org/content/5/7/1688.full.pdf http://shadmehrlab.org/book/minimum_jerk/minimumjerk.htm

Reimplemented from ocra::Trajectory.

Definition at line 175 of file ExperimentalTrajectory.cpp.

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

virtual

Reimplemented from ocra::Trajectory.

Definition at line 253 of file ExperimentalTrajectory.cpp.

void ocra::ExperimentalTrajectory::getDesiredValues	(	double	time,
		Eigen::Displacementd &	position,
		Eigen::Twistd &	velocity,
		Eigen::Twistd &	acceleration
	)