#include <time_optimal_trajectory_generation.h>

Classes
struct	TrajectoryStep

Public Member Functions
Eigen::VectorXd	getAcceleration (double time) const
	Return the acceleration vector for a given point in time. More...

double	getDuration () const
	Returns the optimal duration of the trajectory. More...

Eigen::VectorXd	getPosition (double time) const
	Return the position/configuration vector for a given point in time. More...

Eigen::VectorXd	getVelocity (double time) const
	Return the velocity vector for a given point in time. More...

bool	isValid () const
	Call this method after constructing the object to make sure the trajectory generation succeeded without errors. If this method returns false, all other methods have undefined behavior. More...

	Trajectory (const Path &path, const Eigen::VectorXd &max_velocity, const Eigen::VectorXd &max_acceleration, double time_step=0.001)
	Generates a time-optimal trajectory. More...

	~Trajectory ()

Private Member Functions
double	getAccelerationMaxPathVelocity (double path_pos) const

double	getAccelerationMaxPathVelocityDeriv (double path_pos)

double	getMinMaxPathAcceleration (double path_position, double path_velocity, bool max)

double	getMinMaxPhaseSlope (double path_position, double path_velocity, bool max)

bool	getNextAccelerationSwitchingPoint (double path_pos, TrajectoryStep &next_switching_point, double &before_acceleration, double &after_acceleration)

bool	getNextSwitchingPoint (double path_pos, TrajectoryStep &next_switching_point, double &before_acceleration, double &after_acceleration)

bool	getNextVelocitySwitchingPoint (double path_pos, TrajectoryStep &next_switching_point, double &before_acceleration, double &after_acceleration)

std::list< TrajectoryStep >::const_iterator	getTrajectorySegment (double time) const

double	getVelocityMaxPathVelocity (double path_pos) const

double	getVelocityMaxPathVelocityDeriv (double path_pos)

void	integrateBackward (std::list< TrajectoryStep > &start_trajectory, double path_pos, double path_vel, double acceleration)

bool	integrateForward (std::list< TrajectoryStep > &trajectory, double acceleration)

Private Attributes
double	cached_time_

std::list< TrajectoryStep >::const_iterator	cached_trajectory_segment_

std::list< TrajectoryStep >	end_trajectory_

unsigned int	joint_num_

Eigen::VectorXd	max_acceleration_

Eigen::VectorXd	max_velocity_

Path	path_

const double	time_step_

std::list< TrajectoryStep >	trajectory_

bool	valid_

Detailed Description

Definition at line 101 of file time_optimal_trajectory_generation.h.

Constructor & Destructor Documentation

◆ Trajectory()

trajectory_processing::Trajectory::Trajectory	(	const Path &	path,
		const Eigen::VectorXd &	max_velocity,
		const Eigen::VectorXd &	max_acceleration,
		double	time_step = `0.001`
	)

Generates a time-optimal trajectory.

Definition at line 313 of file time_optimal_trajectory_generation.cpp.

◆ ~Trajectory()

trajectory_processing::Trajectory::~Trajectory ( )

Definition at line 359 of file time_optimal_trajectory_generation.cpp.

Member Function Documentation

◆ getAcceleration()

Eigen::VectorXd trajectory_processing::Trajectory::getAcceleration ( double time ) const

Return the acceleration vector for a given point in time.

Definition at line 839 of file time_optimal_trajectory_generation.cpp.

◆ getAccelerationMaxPathVelocity()

double trajectory_processing::Trajectory::getAccelerationMaxPathVelocity ( double path_pos ) const

private

Definition at line 706 of file time_optimal_trajectory_generation.cpp.

◆ getAccelerationMaxPathVelocityDeriv()

double trajectory_processing::Trajectory::getAccelerationMaxPathVelocityDeriv ( double path_pos )

private

Definition at line 748 of file time_optimal_trajectory_generation.cpp.

◆ getDuration()

double trajectory_processing::Trajectory::getDuration ( ) const

Returns the optimal duration of the trajectory.

Definition at line 777 of file time_optimal_trajectory_generation.cpp.

◆ getMinMaxPathAcceleration()

double trajectory_processing::Trajectory::getMinMaxPathAcceleration	(	double	path_position,
		double	path_velocity,
		bool	max
	)

private

Definition at line 683 of file time_optimal_trajectory_generation.cpp.

◆ getMinMaxPhaseSlope()

double trajectory_processing::Trajectory::getMinMaxPhaseSlope	(	double	path_position,
		double	path_velocity,
		bool	max
	)

private

Definition at line 701 of file time_optimal_trajectory_generation.cpp.

◆ getNextAccelerationSwitchingPoint()

bool trajectory_processing::Trajectory::getNextAccelerationSwitchingPoint	(	double	path_pos,
		TrajectoryStep &	next_switching_point,
		double &	before_acceleration,
		double &	after_acceleration
	)

private

Definition at line 411 of file time_optimal_trajectory_generation.cpp.

◆ getNextSwitchingPoint()

bool trajectory_processing::Trajectory::getNextSwitchingPoint	(	double	path_pos,
		TrajectoryStep &	next_switching_point,
		double &	before_acceleration,
		double &	after_acceleration
	)

private

Definition at line 364 of file time_optimal_trajectory_generation.cpp.

◆ getNextVelocitySwitchingPoint()

bool trajectory_processing::Trajectory::getNextVelocitySwitchingPoint	(	double	path_pos,
		TrajectoryStep &	next_switching_point,
		double &	before_acceleration,
		double &	after_acceleration
	)

private

Definition at line 461 of file time_optimal_trajectory_generation.cpp.

◆ getPosition()

Eigen::VectorXd trajectory_processing::Trajectory::getPosition ( double time ) const

Return the position/configuration vector for a given point in time.

Definition at line 805 of file time_optimal_trajectory_generation.cpp.

◆ getTrajectorySegment()

std::list< Trajectory::TrajectoryStep >::const_iterator trajectory_processing::Trajectory::getTrajectorySegment ( double time ) const

private

Definition at line 782 of file time_optimal_trajectory_generation.cpp.

◆ getVelocity()

Eigen::VectorXd trajectory_processing::Trajectory::getVelocity ( double time ) const

Return the velocity vector for a given point in time.

Definition at line 822 of file time_optimal_trajectory_generation.cpp.

◆ getVelocityMaxPathVelocity()

double trajectory_processing::Trajectory::getVelocityMaxPathVelocity ( double path_pos ) const

private

Definition at line 737 of file time_optimal_trajectory_generation.cpp.

◆ getVelocityMaxPathVelocityDeriv()

double trajectory_processing::Trajectory::getVelocityMaxPathVelocityDeriv ( double path_pos )

private

Definition at line 754 of file time_optimal_trajectory_generation.cpp.

◆ integrateBackward()

void trajectory_processing::Trajectory::integrateBackward	(	std::list< TrajectoryStep > &	start_trajectory,
		double	path_pos,
		double	path_vel,
		double	acceleration
	)

private

Definition at line 626 of file time_optimal_trajectory_generation.cpp.

◆ integrateForward()

bool trajectory_processing::Trajectory::integrateForward	(	std::list< TrajectoryStep > &	trajectory,
		double	acceleration
	)

private

Definition at line 510 of file time_optimal_trajectory_generation.cpp.

◆ isValid()

bool trajectory_processing::Trajectory::isValid ( ) const

Call this method after constructing the object to make sure the trajectory generation succeeded without errors. If this method returns false, all other methods have undefined behavior.

Definition at line 772 of file time_optimal_trajectory_generation.cpp.

Member Data Documentation

◆ cached_time_

double trajectory_processing::Trajectory::cached_time_

mutableprivate

Definition at line 168 of file time_optimal_trajectory_generation.h.

◆ cached_trajectory_segment_

std::list<TrajectoryStep>::const_iterator trajectory_processing::Trajectory::cached_trajectory_segment_

mutableprivate

Definition at line 169 of file time_optimal_trajectory_generation.h.

◆ end_trajectory_

std::list<TrajectoryStep> trajectory_processing::Trajectory::end_trajectory_

private

Definition at line 164 of file time_optimal_trajectory_generation.h.

◆ joint_num_

unsigned int trajectory_processing::Trajectory::joint_num_

private

Definition at line 161 of file time_optimal_trajectory_generation.h.

◆ max_acceleration_

Eigen::VectorXd trajectory_processing::Trajectory::max_acceleration_

private

Definition at line 160 of file time_optimal_trajectory_generation.h.

◆ max_velocity_

Eigen::VectorXd trajectory_processing::Trajectory::max_velocity_

private

Definition at line 159 of file time_optimal_trajectory_generation.h.

◆ path_

Path trajectory_processing::Trajectory::path_

private

Definition at line 158 of file time_optimal_trajectory_generation.h.

◆ time_step_

const double trajectory_processing::Trajectory::time_step_

private

Definition at line 166 of file time_optimal_trajectory_generation.h.

◆ trajectory_

std::list<TrajectoryStep> trajectory_processing::Trajectory::trajectory_

private

Definition at line 163 of file time_optimal_trajectory_generation.h.

◆ valid_

bool trajectory_processing::Trajectory::valid_

private

Definition at line 162 of file time_optimal_trajectory_generation.h.

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

Classes

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Trajectory()

◆ ~Trajectory()

Member Function Documentation

◆ getAcceleration()

◆ getAccelerationMaxPathVelocity()

◆ getAccelerationMaxPathVelocityDeriv()

◆ getDuration()

◆ getMinMaxPathAcceleration()

◆ getMinMaxPhaseSlope()

◆ getNextAccelerationSwitchingPoint()

◆ getNextSwitchingPoint()

◆ getNextVelocitySwitchingPoint()

◆ getPosition()

◆ getTrajectorySegment()

◆ getVelocity()

◆ getVelocityMaxPathVelocity()

◆ getVelocityMaxPathVelocityDeriv()

◆ integrateBackward()

◆ integrateForward()

◆ isValid()

Member Data Documentation

◆ cached_time_

◆ cached_trajectory_segment_

◆ end_trajectory_

◆ joint_num_

◆ max_acceleration_

◆ max_velocity_

◆ path_

◆ time_step_

◆ trajectory_

◆ valid_