Maintain a sequence of waypoints and the time durations between these waypoints. More...

#include <robot_trajectory.h>

Public Member Functions
RobotTrajectory &	addPrefixWayPoint (const moveit::core::RobotState &state, double dt)

RobotTrajectory &	addPrefixWayPoint (const moveit::core::RobotStatePtr &state, double dt)

RobotTrajectory &	addSuffixWayPoint (const moveit::core::RobotState &state, double dt)
	Add a point to the trajectory. More...

RobotTrajectory &	addSuffixWayPoint (const moveit::core::RobotStatePtr &state, double dt)
	Add a point to the trajectory. More...

RobotTrajectory &	append (const RobotTrajectory &source, double dt, size_t start_index=0, size_t end_index=std::numeric_limits< std::size_t >::max())
	Add a specified part of a trajectory to the end of the current trajectory. The default (when `start_index` and `end_index` are omitted) is to add the whole trajectory. More...

RobotTrajectory &	clear ()

bool	empty () const

void	findWayPointIndicesForDurationAfterStart (const double duration, int &before, int &after, double &blend) const
	Finds the waypoint indicies before and after a duration from start. More...

double	getAverageSegmentDuration () const

double	getDuration () const

const moveit::core::RobotState &	getFirstWayPoint () const

moveit::core::RobotStatePtr &	getFirstWayPointPtr ()

const moveit::core::JointModelGroup *	getGroup () const

const std::string &	getGroupName () const

const moveit::core::RobotState &	getLastWayPoint () const

moveit::core::RobotStatePtr &	getLastWayPointPtr ()

const moveit::core::RobotModelConstPtr &	getRobotModel () const

void	getRobotTrajectoryMsg (moveit_msgs::RobotTrajectory &trajectory, const std::vector< std::string > &joint_filter=std::vector< std::string >()) const

bool	getStateAtDurationFromStart (const double request_duration, moveit::core::RobotStatePtr &output_state) const
	Gets a robot state corresponding to a supplied duration from start for the trajectory, using linear time interpolation. More...

const moveit::core::RobotState &	getWayPoint (std::size_t index) const

std::size_t	getWayPointCount () const

double	getWayPointDurationFromPrevious (std::size_t index) const

double	getWayPointDurationFromStart (std::size_t index) const
	Returns the duration after start that a waypoint will be reached. More...

double	getWaypointDurationFromStart (std::size_t index) const

const std::deque< double > &	getWayPointDurations () const

moveit::core::RobotStatePtr &	getWayPointPtr (std::size_t index)

RobotTrajectory &	insertWayPoint (std::size_t index, const moveit::core::RobotState &state, double dt)

RobotTrajectory &	insertWayPoint (std::size_t index, const moveit::core::RobotStatePtr &state, double dt)

RobotTrajectory &	operator= (const RobotTrajectory &)=default

RobotTrajectory &	reverse ()

	RobotTrajectory (const moveit::core::RobotModelConstPtr &robot_model)
	construct a trajectory for the whole robot More...

	RobotTrajectory (const moveit::core::RobotModelConstPtr &robot_model, const moveit::core::JointModelGroup *group)
	construct a trajectory for the JointModelGroup Only joints from the specified group will be considered in this trajectory, even though all waypoints still consist of full RobotStates (representing all joints). More...

	RobotTrajectory (const moveit::core::RobotModelConstPtr &robot_model, const std::string &group)
	construct a trajectory for the named JointModelGroup If group is an empty string, this is equivalent to the first constructor, otherwise it is equivalent to `RobotTrajectory(robot_model, robot_model->getJointModelGroup(group))`. More...

	RobotTrajectory (const RobotTrajectory &other, bool deepcopy=false)
	Copy constructor allowing a shallow or deep copy of waypoints. More...

RobotTrajectory &	setGroupName (const std::string &group_name)

RobotTrajectory &	setRobotTrajectoryMsg (const moveit::core::RobotState &reference_state, const moveit_msgs::RobotState &state, const moveit_msgs::RobotTrajectory &trajectory)
	Copy the content of the trajectory message into this class. The trajectory message itself is not required to contain the values for all joints. For this reason a full starting state must be specified as reference (reference_state). Before use, the reference state is updated using state. Each point in the trajectory to be constructed internally is obtained by copying the reference state and overwriting the content from a trajectory point in trajectory. More...

RobotTrajectory &	setRobotTrajectoryMsg (const moveit::core::RobotState &reference_state, const moveit_msgs::RobotTrajectory &trajectory)
	Copy the content of the trajectory message into this class. The trajectory message itself is not required to contain the values for all joints. For this reason a full starting state must be specified as reference (reference_state). Each point in the trajectory to be constructed internally is obtained by copying the reference state and overwriting the content from a trajectory point in trajectory. More...

RobotTrajectory &	setRobotTrajectoryMsg (const moveit::core::RobotState &reference_state, const trajectory_msgs::JointTrajectory &trajectory)
	Copy the content of the trajectory message into this class. The trajectory message itself is not required to contain the values for all joints. For this reason a full starting state must be specified as reference (reference_state). Each point in the trajectory to be constructed internally is obtained by copying the reference state and overwriting the content from a trajectory point in trajectory. More...

RobotTrajectory &	setWayPointDurationFromPrevious (std::size_t index, double value)

void	swap (robot_trajectory::RobotTrajectory &other)

RobotTrajectory &	unwind ()

RobotTrajectory &	unwind (const moveit::core::RobotState &state)

Private Attributes
std::deque< double >	duration_from_previous_

const moveit::core::JointModelGroup *	group_

moveit::core::RobotModelConstPtr	robot_model_

std::deque< moveit::core::RobotStatePtr >	waypoints_

Detailed Description

Maintain a sequence of waypoints and the time durations between these waypoints.

Definition at line 84 of file robot_trajectory.h.

Constructor & Destructor Documentation

◆ RobotTrajectory() [1/4]

robot_trajectory::RobotTrajectory::RobotTrajectory ( const moveit::core::RobotModelConstPtr & robot_model )

explicit

construct a trajectory for the whole robot

Definition at line 77 of file robot_trajectory.cpp.

◆ RobotTrajectory() [2/4]

robot_trajectory::RobotTrajectory::RobotTrajectory	(	const moveit::core::RobotModelConstPtr &	robot_model,
		const std::string &	group
	)

construct a trajectory for the named JointModelGroup If group is an empty string, this is equivalent to the first constructor, otherwise it is equivalent to RobotTrajectory(robot_model, robot_model->getJointModelGroup(group)).

Definition at line 82 of file robot_trajectory.cpp.

◆ RobotTrajectory() [3/4]

robot_trajectory::RobotTrajectory::RobotTrajectory	(	const moveit::core::RobotModelConstPtr &	robot_model,
		const moveit::core::JointModelGroup *	group
	)

construct a trajectory for the JointModelGroup Only joints from the specified group will be considered in this trajectory, even though all waypoints still consist of full RobotStates (representing all joints).

If group is nullptr this is equivalent to the first constructor.

Definition at line 87 of file robot_trajectory.cpp.

◆ RobotTrajectory() [4/4]

robot_trajectory::RobotTrajectory::RobotTrajectory	(	const RobotTrajectory &	other,
		bool	deepcopy = `false`
	)

Copy constructor allowing a shallow or deep copy of waypoints.

Parameters

other	- RobotTrajectory to copy from
deepcopy	- copy waypoints by value (true) or by pointer (false)?

Definition at line 93 of file robot_trajectory.cpp.

Member Function Documentation

◆ addPrefixWayPoint() [1/2]

RobotTrajectory& robot_trajectory::RobotTrajectory::addPrefixWayPoint	(	const moveit::core::RobotState &	state,
		double	dt
	)

inline

Definition at line 223 of file robot_trajectory.h.

◆ addPrefixWayPoint() [2/2]

RobotTrajectory& robot_trajectory::RobotTrajectory::addPrefixWayPoint	(	const moveit::core::RobotStatePtr &	state,
		double	dt
	)

inline

Definition at line 228 of file robot_trajectory.h.

◆ addSuffixWayPoint() [1/2]

RobotTrajectory& robot_trajectory::RobotTrajectory::addSuffixWayPoint	(	const moveit::core::RobotState &	state,
		double	dt
	)

inline

Add a point to the trajectory.

Parameters

state	- current robot state
dt	- duration from previous

Definition at line 205 of file robot_trajectory.h.

◆ addSuffixWayPoint() [2/2]

RobotTrajectory& robot_trajectory::RobotTrajectory::addSuffixWayPoint	(	const moveit::core::RobotStatePtr &	state,
		double	dt
	)

inline

Add a point to the trajectory.

Parameters

state	- current robot state
dt	- duration from previous

Definition at line 215 of file robot_trajectory.h.

◆ append()

RobotTrajectory & robot_trajectory::RobotTrajectory::append	(	const RobotTrajectory &	source,
		double	dt,
		size_t	start_index = `0`,
		size_t	end_index = `std::numeric_limits<std::size_t>::max()`
	)

Add a specified part of a trajectory to the end of the current trajectory. The default (when start_index and end_index are omitted) is to add the whole trajectory.

Parameters

source	- the trajectory containing the part to append to the end of current trajectory
dt	- time step between last traj point in current traj and first traj point of append traj
start_index	- index of first traj point of the part to append from the source traj, the default is to add from the start of the source traj
end_index	- index of last traj point of the part to append from the source traj, the default is to add until the end of the source traj

Definition at line 135 of file robot_trajectory.cpp.

◆ clear()

RobotTrajectory& robot_trajectory::RobotTrajectory::clear ( )

inline

Definition at line 264 of file robot_trajectory.h.

◆ empty()

bool robot_trajectory::RobotTrajectory::empty ( ) const

inline

Definition at line 195 of file robot_trajectory.h.

◆ findWayPointIndicesForDurationAfterStart()

void robot_trajectory::RobotTrajectory::findWayPointIndicesForDurationAfterStart	(	const double	duration,
		int &	before,
		int &	after,
		double &	blend
	)		const

Finds the waypoint indicies before and after a duration from start.

Parameters

duration	The duration from start.
before	The waypoint index before the supplied duration.
after	The waypoint index after (or equal to) the supplied duration.
blend	The progress (0 to 1) between the two waypoints, based on time (not based on joint distances).

Definition at line 474 of file robot_trajectory.cpp.

◆ getAverageSegmentDuration()

double robot_trajectory::RobotTrajectory::getAverageSegmentDuration ( ) const

Definition at line 119 of file robot_trajectory.cpp.

◆ getDuration()

double robot_trajectory::RobotTrajectory::getDuration ( ) const

Definition at line 114 of file robot_trajectory.cpp.

◆ getFirstWayPoint()

const moveit::core::RobotState& robot_trajectory::RobotTrajectory::getFirstWayPoint ( ) const

inline

Definition at line 146 of file robot_trajectory.h.

◆ getFirstWayPointPtr()

moveit::core::RobotStatePtr& robot_trajectory::RobotTrajectory::getFirstWayPointPtr ( )

inline

Definition at line 161 of file robot_trajectory.h.

◆ getGroup()

const moveit::core::JointModelGroup* robot_trajectory::RobotTrajectory::getGroup ( ) const

inline

Definition at line 118 of file robot_trajectory.h.

◆ getGroupName()

const std::string & robot_trajectory::RobotTrajectory::getGroupName ( ) const

Definition at line 106 of file robot_trajectory.cpp.

◆ getLastWayPoint()

const moveit::core::RobotState& robot_trajectory::RobotTrajectory::getLastWayPoint ( ) const

inline

Definition at line 141 of file robot_trajectory.h.

◆ getLastWayPointPtr()

moveit::core::RobotStatePtr& robot_trajectory::RobotTrajectory::getLastWayPointPtr ( )

inline

Definition at line 156 of file robot_trajectory.h.

◆ getRobotModel()

const moveit::core::RobotModelConstPtr& robot_trajectory::RobotTrajectory::getRobotModel ( ) const

inline

Definition at line 113 of file robot_trajectory.h.

◆ getRobotTrajectoryMsg()

void robot_trajectory::RobotTrajectory::getRobotTrajectoryMsg	(	moveit_msgs::RobotTrajectory &	trajectory,
		const std::vector< std::string > &	joint_filter = `std::vector<std::string>()`
	)		const

Definition at line 255 of file robot_trajectory.cpp.

◆ getStateAtDurationFromStart()

bool robot_trajectory::RobotTrajectory::getStateAtDurationFromStart	(	const double	request_duration,
		moveit::core::RobotStatePtr &	output_state
	)		const

Gets a robot state corresponding to a supplied duration from start for the trajectory, using linear time interpolation.

Parameters

request_duration	The duration from start.
output_state	The resulting robot state.

Returns: True if state is valid, false otherwise (trajectory is empty).

Definition at line 523 of file robot_trajectory.cpp.

◆ getWayPoint()

const moveit::core::RobotState& robot_trajectory::RobotTrajectory::getWayPoint ( std::size_t index ) const

inline

Definition at line 136 of file robot_trajectory.h.

◆ getWayPointCount()

std::size_t robot_trajectory::RobotTrajectory::getWayPointCount ( ) const

inline

Definition at line 131 of file robot_trajectory.h.

◆ getWayPointDurationFromPrevious()

double robot_trajectory::RobotTrajectory::getWayPointDurationFromPrevious ( std::size_t index ) const

inline

Definition at line 179 of file robot_trajectory.h.

◆ getWayPointDurationFromStart()

double robot_trajectory::RobotTrajectory::getWayPointDurationFromStart ( std::size_t index ) const

Returns the duration after start that a waypoint will be reached.

Parameters

index The waypoint index.

Returns: The duration from start; returns overall duration if index is out of range.

Definition at line 505 of file robot_trajectory.cpp.

◆ getWaypointDurationFromStart()

double robot_trajectory::RobotTrajectory::getWaypointDurationFromStart ( std::size_t index ) const

Definition at line 518 of file robot_trajectory.cpp.

◆ getWayPointDurations()

const std::deque<double>& robot_trajectory::RobotTrajectory::getWayPointDurations ( ) const

inline

Definition at line 166 of file robot_trajectory.h.

◆ getWayPointPtr()

moveit::core::RobotStatePtr& robot_trajectory::RobotTrajectory::getWayPointPtr ( std::size_t index )

inline

Definition at line 151 of file robot_trajectory.h.

◆ insertWayPoint() [1/2]

RobotTrajectory& robot_trajectory::RobotTrajectory::insertWayPoint	(	std::size_t	index,
		const moveit::core::RobotState &	state,
		double	dt
	)

inline

Definition at line 236 of file robot_trajectory.h.

◆ insertWayPoint() [2/2]

RobotTrajectory& robot_trajectory::RobotTrajectory::insertWayPoint	(	std::size_t	index,
		const moveit::core::RobotStatePtr &	state,
		double	dt
	)

inline

Definition at line 241 of file robot_trajectory.h.

◆ operator=()

RobotTrajectory& robot_trajectory::RobotTrajectory::operator= ( const RobotTrajectory & )

default

Assignment operator, performing a shallow copy, i.e. copying waypoints by pointer

◆ reverse()

RobotTrajectory & robot_trajectory::RobotTrajectory::reverse ( )

Definition at line 152 of file robot_trajectory.cpp.

◆ setGroupName()

RobotTrajectory& robot_trajectory::RobotTrajectory::setGroupName ( const std::string & group_name )

inline

Definition at line 125 of file robot_trajectory.h.

◆ setRobotTrajectoryMsg() [1/3]

RobotTrajectory & robot_trajectory::RobotTrajectory::setRobotTrajectoryMsg	(	const moveit::core::RobotState &	reference_state,
		const moveit_msgs::RobotState &	state,
		const moveit_msgs::RobotTrajectory &	trajectory
	)

Copy the content of the trajectory message into this class. The trajectory message itself is not required to contain the values for all joints. For this reason a full starting state must be specified as reference (reference_state). Before use, the reference state is updated using state. Each point in the trajectory to be constructed internally is obtained by copying the reference state and overwriting the content from a trajectory point in trajectory.

Definition at line 465 of file robot_trajectory.cpp.

◆ setRobotTrajectoryMsg() [2/3]

RobotTrajectory & robot_trajectory::RobotTrajectory::setRobotTrajectoryMsg	(	const moveit::core::RobotState &	reference_state,
		const moveit_msgs::RobotTrajectory &	trajectory
	)

Copy the content of the trajectory message into this class. The trajectory message itself is not required to contain the values for all joints. For this reason a full starting state must be specified as reference (reference_state). Each point in the trajectory to be constructed internally is obtained by copying the reference state and overwriting the content from a trajectory point in trajectory.

Definition at line 417 of file robot_trajectory.cpp.

◆ setRobotTrajectoryMsg() [3/3]

RobotTrajectory & robot_trajectory::RobotTrajectory::setRobotTrajectoryMsg	(	const moveit::core::RobotState &	reference_state,
		const trajectory_msgs::JointTrajectory &	trajectory
	)

Copy the content of the trajectory message into this class. The trajectory message itself is not required to contain the values for all joints. For this reason a full starting state must be specified as reference (reference_state). Each point in the trajectory to be constructed internally is obtained by copying the reference state and overwriting the content from a trajectory point in trajectory.

Definition at line 389 of file robot_trajectory.cpp.

◆ setWayPointDurationFromPrevious()

RobotTrajectory& robot_trajectory::RobotTrajectory::setWayPointDurationFromPrevious	(	std::size_t	index,
		double	value
	)

inline

Definition at line 187 of file robot_trajectory.h.

◆ swap()

void robot_trajectory::RobotTrajectory::swap ( robot_trajectory::RobotTrajectory & other )

Definition at line 127 of file robot_trajectory.cpp.

◆ unwind() [1/2]

RobotTrajectory & robot_trajectory::RobotTrajectory::unwind ( )

Definition at line 170 of file robot_trajectory.cpp.

◆ unwind() [2/2]

RobotTrajectory & robot_trajectory::RobotTrajectory::unwind ( const moveit::core::RobotState & state )

Definition at line 207 of file robot_trajectory.cpp.

Member Data Documentation

◆ duration_from_previous_

std::deque<double> robot_trajectory::RobotTrajectory::duration_from_previous_

private

Definition at line 333 of file robot_trajectory.h.

◆ group_

const moveit::core::JointModelGroup* robot_trajectory::RobotTrajectory::group_

private

Definition at line 331 of file robot_trajectory.h.

◆ robot_model_

moveit::core::RobotModelConstPtr robot_trajectory::RobotTrajectory::robot_model_

private

Definition at line 330 of file robot_trajectory.h.

◆ waypoints_

std::deque<moveit::core::RobotStatePtr> robot_trajectory::RobotTrajectory::waypoints_

private

Definition at line 332 of file robot_trajectory.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ RobotTrajectory() [1/4]

◆ RobotTrajectory() [2/4]

◆ RobotTrajectory() [3/4]

◆ RobotTrajectory() [4/4]

Member Function Documentation

◆ addPrefixWayPoint() [1/2]

◆ addPrefixWayPoint() [2/2]

◆ addSuffixWayPoint() [1/2]

◆ addSuffixWayPoint() [2/2]

◆ append()

◆ clear()

◆ empty()

◆ findWayPointIndicesForDurationAfterStart()

◆ getAverageSegmentDuration()

◆ getDuration()

◆ getFirstWayPoint()

◆ getFirstWayPointPtr()

◆ getGroup()

◆ getGroupName()

◆ getLastWayPoint()

◆ getLastWayPointPtr()

◆ getRobotModel()

◆ getRobotTrajectoryMsg()

◆ getStateAtDurationFromStart()

◆ getWayPoint()

◆ getWayPointCount()

◆ getWayPointDurationFromPrevious()

◆ getWayPointDurationFromStart()

◆ getWaypointDurationFromStart()

◆ getWayPointDurations()

◆ getWayPointPtr()

◆ insertWayPoint() [1/2]

◆ insertWayPoint() [2/2]

◆ operator=()

◆ reverse()

◆ setGroupName()

◆ setRobotTrajectoryMsg() [1/3]

◆ setRobotTrajectoryMsg() [2/3]

◆ setRobotTrajectoryMsg() [3/3]

◆ setWayPointDurationFromPrevious()

◆ swap()

◆ unwind() [1/2]

◆ unwind() [2/2]

Member Data Documentation

◆ duration_from_previous_

◆ group_

◆ robot_model_

◆ waypoints_