RefValJS_PTP_Trajectory Class Reference

#include <RefValJS_PTP_Trajectory.h>

Inheritance diagram for RefValJS_PTP_Trajectory:

[legend]

List of all members.

Public Member Functions
std::vector< double >	dr_ds (double s) const
double	ds_dt (double t) const
std::vector< double >	getLengthParts () const
double	getTotalTime () const
std::vector< double >	r (double s) const
	RefValJS_PTP_Trajectory (const trajectory_msgs::JointTrajectory &trajectory, double v_rad_s, double a_rad_s2, bool smooth=false)
double	s (double t) const
Protected Types
typedef std::vector< double >	vecd
typedef std::vector< double > ::const_iterator	vecd_it
Protected Member Functions
double	norm (const std::vector< double > &j)
double	norm_max (const std::vector< double > &j)
double	norm_sqr (const std::vector< double > &j)
double	norm_weighted (const std::vector< double > &j)
Protected Attributes
double	m_a_rad_s2
double	m_length
vecd	m_length_cumulated
vecd	m_length_parts
double	m_param_length
vecd	m_s_parts
double	m_sa1
double	m_sa3
std::vector< std::vector < double > >	m_SplinePoints
double	m_stepSize
double	m_sv2
double	m_T1
double	m_T2
double	m_T3
trajectory_msgs::JointTrajectory	m_trajectory
BSplineND< std::vector< double > >	m_TrajectorySpline
double	m_v_rad_s
Static Protected Attributes
static const double	weigths [] = { 1.5, 1.5, 1.0, 1.0, 0.8, 0.8, 0.7 }

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Detailed Description

Definition at line 15 of file RefValJS_PTP_Trajectory.h.

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Member Typedef Documentation

typedef std::vector<double> RefValJS_PTP_Trajectory::vecd [protected]

Definition at line 46 of file RefValJS_PTP_Trajectory.h.

typedef std::vector<double>::const_iterator RefValJS_PTP_Trajectory::vecd_it [protected]

Definition at line 47 of file RefValJS_PTP_Trajectory.h.

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Constructor & Destructor Documentation

RefValJS_PTP_Trajectory::RefValJS_PTP_Trajectory	(	const trajectory_msgs::JointTrajectory &	trajectory,
		double	v_rad_s,
		double	a_rad_s2,
		bool	smooth = false
	)

Definition at line 16 of file RefValJS_PTP_Trajectory.cpp.

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Member Function Documentation

std::vector< double > RefValJS_PTP_Trajectory::dr_ds

(

double

s

)

const [virtual]

Implements RefVal_JS.

Definition at line 226 of file RefValJS_PTP_Trajectory.cpp.

double RefValJS_PTP_Trajectory::ds_dt

(

double

t

)

const [virtual]

Implements RefVal_JS.

Definition at line 206 of file RefValJS_PTP_Trajectory.cpp.

std::vector<double> RefValJS_PTP_Trajectory::getLengthParts

(

)

const [inline]

Definition at line 37 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::getTotalTime

(

)

const [inline, virtual]

Implements RefVal_JS.

Definition at line 35 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::norm

(

const std::vector< double > &

j

)

[inline, protected]

Definition at line 76 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::norm_max

(

const std::vector< double > &

j

)

[inline, protected]

Definition at line 82 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::norm_sqr

(

const std::vector< double > &

j

)

[inline, protected]

Definition at line 93 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::norm_weighted

(

const std::vector< double > &

j

)

[inline, protected]

Definition at line 103 of file RefValJS_PTP_Trajectory.h.

std::vector< double > RefValJS_PTP_Trajectory::r

(

double

s

)

const [virtual]

Implements RefVal_JS.

Definition at line 143 of file RefValJS_PTP_Trajectory.cpp.

double RefValJS_PTP_Trajectory::s

(

double

t

)

const [virtual]

Implements RefVal_JS.

Definition at line 187 of file RefValJS_PTP_Trajectory.cpp.

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Member Data Documentation

double RefValJS_PTP_Trajectory::m_a_rad_s2 [protected]

Definition at line 61 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::m_length [protected]

Definition at line 57 of file RefValJS_PTP_Trajectory.h.

vecd RefValJS_PTP_Trajectory::m_length_cumulated [protected]

Definition at line 49 of file RefValJS_PTP_Trajectory.h.

vecd RefValJS_PTP_Trajectory::m_length_parts [protected]

Definition at line 48 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::m_param_length [protected]

Definition at line 58 of file RefValJS_PTP_Trajectory.h.

vecd RefValJS_PTP_Trajectory::m_s_parts [protected]

Definition at line 50 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::m_sa1 [protected]

Definition at line 67 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::m_sa3 [protected]

Definition at line 69 of file RefValJS_PTP_Trajectory.h.

std::vector< std::vector<double> > RefValJS_PTP_Trajectory::m_SplinePoints [protected]

Definition at line 53 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::m_stepSize [protected]

Definition at line 56 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::m_sv2 [protected]

Definition at line 68 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::m_T1 [protected]

Definition at line 63 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::m_T2 [protected]

Definition at line 64 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::m_T3 [protected]

Definition at line 65 of file RefValJS_PTP_Trajectory.h.

trajectory_msgs::JointTrajectory RefValJS_PTP_Trajectory::m_trajectory [protected]

Definition at line 44 of file RefValJS_PTP_Trajectory.h.

BSplineND< std::vector<double> > RefValJS_PTP_Trajectory::m_TrajectorySpline [protected]

Definition at line 52 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::m_v_rad_s [protected]

Definition at line 60 of file RefValJS_PTP_Trajectory.h.

const double RefValJS_PTP_Trajectory::weigths = { 1.5, 1.5, 1.0, 1.0, 0.8, 0.8, 0.7 } [static, protected]

Definition at line 71 of file RefValJS_PTP_Trajectory.h.

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

• RefValJS_PTP_Trajectory.h
• RefValJS_PTP_Trajectory.cpp