Joint Trajectory Point used to describe a joint goal for a robot trajectory. More...

#include <joint_trajectory_pt.h>

Inheritance diagram for descartes_trajectory::JointTrajectoryPt:

Public Member Functions
virtual descartes_core::TrajectoryPtPtr	copy () const
virtual bool	isValid (const descartes_core::RobotModel &model) const
	JointTrajectoryPt (const descartes_core::TimingConstraint &timing=descartes_core::TimingConstraint())
	All frames initialized to Identity, joint values left empty.
	JointTrajectoryPt (const std::vector< TolerancedJointValue > &joints, const descartes_core::Frame &tool, const descartes_core::Frame &wobj, const descartes_core::TimingConstraint &timing=descartes_core::TimingConstraint())
	Full joint trajectory point constructor.
	JointTrajectoryPt (const std::vector< TolerancedJointValue > &joints, const descartes_core::TimingConstraint &timing=descartes_core::TimingConstraint())
	Full joint trajectory point constructor.
	JointTrajectoryPt (const std::vector< double > &joints, const descartes_core::TimingConstraint &timing=descartes_core::TimingConstraint())
	Full joint trajectory point constructor.
const std::vector< double > &	lower () const
const std::vector< double > &	nominal () const
virtual bool	setDiscretization (const std::vector< double > &discretization)
	Set discretization. Each joint can have a different discretization.
void	setJoints (const std::vector< TolerancedJointValue > &joints)
void	setTool (const descartes_core::Frame &tool)
void	setWobj (const descartes_core::Frame &wobj)
const std::vector< double > &	upper () const
virtual	~JointTrajectoryPt ()
Getters for Cartesian pose(s)
virtual bool	getClosestCartPose (const std::vector< double > &seed_state, const descartes_core::RobotModel &model, Eigen::Affine3d &pose) const
virtual bool	getNominalCartPose (const std::vector< double > &seed_state, const descartes_core::RobotModel &model, Eigen::Affine3d &pose) const
virtual void	getCartesianPoses (const descartes_core::RobotModel &model, EigenSTL::vector_Affine3d &poses) const
Getters for joint pose(s)
virtual bool	getClosestJointPose (const std::vector< double > &seed_state, const descartes_core::RobotModel &model, std::vector< double > &joint_pose) const
virtual bool	getNominalJointPose (const std::vector< double > &seed_state, const descartes_core::RobotModel &model, std::vector< double > &joint_pose) const
virtual void	getJointPoses (const descartes_core::RobotModel &model, std::vector< std::vector< double > > &joint_poses) const
Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Protected Attributes
std::vector< double >	discretization_
	How finely to discretize each joint.
std::vector< double >	lower_
std::vector< double >	nominal_
std::vector< double >	upper_
JointTrajectoryPt transforms. Used in get*CartPose() methods and for interpolation.
descartes_core::Frame	tool_
	Transform from robot wrist to active tool pt.
descartes_core::Frame	wobj_
	Transform from world to active workobject pt.

Detailed Description

Joint Trajectory Point used to describe a joint goal for a robot trajectory.

Background: The TOOL is something held by the robot. It is located relative to robot wrist/tool plate. The WOBJ is something that exists in the world/global environment that is not held by robot.

For a JointTrajectoryPt, the transform from wrist to tool, and base to workobject, are defined by fixed frames. These transforms are important when calculating interpolation. The joint position is specified as a nominal with upper/lower tolerances.

The get*Pose() methods of JointTrajectoryPt try to set joint positions of a robot such that tool_ is coincident with wobj_.

Definition at line 67 of file joint_trajectory_pt.h.

Constructor & Destructor Documentation

descartes_trajectory::JointTrajectoryPt::JointTrajectoryPt ( const descartes_core::TimingConstraint & timing = descartes_core::TimingConstraint() )

All frames initialized to Identity, joint values left empty.

Definition at line 54 of file src/joint_trajectory_pt.cpp.

descartes_trajectory::JointTrajectoryPt::JointTrajectoryPt	(	const std::vector< TolerancedJointValue > &	joints,
		const descartes_core::Frame &	tool,
		const descartes_core::Frame &	wobj,
		const descartes_core::TimingConstraint &	timing = `descartes_core::TimingConstraint()`
	)

Full joint trajectory point constructor.

Parameters:

joints	Fixed joint position with tolerance
tool	Transform from robot wrist to active tool pt.
wobj	Transform from world to active workobject pt.

Definition at line 60 of file src/joint_trajectory_pt.cpp.

descartes_trajectory::JointTrajectoryPt::JointTrajectoryPt	(	const std::vector< TolerancedJointValue > &	joints,
		const descartes_core::TimingConstraint &	timing = `descartes_core::TimingConstraint()`
	)

Full joint trajectory point constructor.

Parameters:

joints Fixed joint position with tolerance

Definition at line 70 of file src/joint_trajectory_pt.cpp.

descartes_trajectory::JointTrajectoryPt::JointTrajectoryPt	(	const std::vector< double > &	joints,
		const descartes_core::TimingConstraint &	timing = `descartes_core::TimingConstraint()`
	)

Full joint trajectory point constructor.

Parameters:

joints Fixed joint position

Definition at line 79 of file src/joint_trajectory_pt.cpp.

virtual descartes_trajectory::JointTrajectoryPt::~JointTrajectoryPt ( ) [inline, virtual]

Definition at line 104 of file joint_trajectory_pt.h.

Member Function Documentation

virtual descartes_core::TrajectoryPtPtr descartes_trajectory::JointTrajectoryPt::copy ( ) const [inline, virtual]

Implements descartes_core::TrajectoryPt.

Definition at line 150 of file joint_trajectory_pt.h.

void descartes_trajectory::JointTrajectoryPt::getCartesianPoses	(	const descartes_core::RobotModel &	model,
		EigenSTL::vector_Affine3d &	poses
	)		const `[virtual]`

Implements descartes_core::TrajectoryPt.

Definition at line 102 of file src/joint_trajectory_pt.cpp.

bool descartes_trajectory::JointTrajectoryPt::getClosestCartPose	(	const std::vector< double > &	seed_state,
		const descartes_core::RobotModel &	model,
		Eigen::Affine3d &	pose
	)		const `[virtual]`

Implements descartes_core::TrajectoryPt.

Definition at line 90 of file src/joint_trajectory_pt.cpp.

bool descartes_trajectory::JointTrajectoryPt::getClosestJointPose	(	const std::vector< double > &	seed_state,
		const descartes_core::RobotModel &	model,
		std::vector< double > &	joint_pose
	)		const `[virtual]`

Implements descartes_core::TrajectoryPt.

Definition at line 107 of file src/joint_trajectory_pt.cpp.

void descartes_trajectory::JointTrajectoryPt::getJointPoses	(	const descartes_core::RobotModel &	model,
		std::vector< std::vector< double > > &	joint_poses
	)		const `[virtual]`

Implements descartes_core::TrajectoryPt.

Definition at line 129 of file src/joint_trajectory_pt.cpp.

bool descartes_trajectory::JointTrajectoryPt::getNominalCartPose	(	const std::vector< double > &	seed_state,
		const descartes_core::RobotModel &	model,
		Eigen::Affine3d &	pose
	)		const `[virtual]`

Implements descartes_core::TrajectoryPt.

Definition at line 96 of file src/joint_trajectory_pt.cpp.

bool descartes_trajectory::JointTrajectoryPt::getNominalJointPose	(	const std::vector< double > &	seed_state,
		const descartes_core::RobotModel &	model,
		std::vector< double > &	joint_pose
	)		const `[virtual]`

Implements descartes_core::TrajectoryPt.

Definition at line 121 of file src/joint_trajectory_pt.cpp.

bool descartes_trajectory::JointTrajectoryPt::isValid ( const descartes_core::RobotModel & model ) const [virtual]

Implements descartes_core::TrajectoryPt.

Definition at line 137 of file src/joint_trajectory_pt.cpp.

const std::vector<double>& descartes_trajectory::JointTrajectoryPt::lower ( ) const [inline]

Definition at line 183 of file joint_trajectory_pt.h.

const std::vector<double>& descartes_trajectory::JointTrajectoryPt::nominal ( ) const [inline]

Definition at line 171 of file joint_trajectory_pt.h.

bool descartes_trajectory::JointTrajectoryPt::setDiscretization ( const std::vector< double > & discretization ) [virtual]

Set discretization. Each joint can have a different discretization.

Parameters:

discretization Vector of discretization values. If length=1, set all elements of discretization_ are set to value.

Returns:: True if vector is length 1 or length(joint_position_) and value[ii] are within 0-range(joint_position[ii]).

Implements descartes_core::TrajectoryPt.

Definition at line 142 of file src/joint_trajectory_pt.cpp.

void descartes_trajectory::JointTrajectoryPt::setJoints ( const std::vector< TolerancedJointValue > & joints )

Definition at line 171 of file src/joint_trajectory_pt.cpp.

void descartes_trajectory::JointTrajectoryPt::setTool ( const descartes_core::Frame & tool ) [inline]

Definition at line 158 of file joint_trajectory_pt.h.

void descartes_trajectory::JointTrajectoryPt::setWobj ( const descartes_core::Frame & wobj ) [inline]

Definition at line 164 of file joint_trajectory_pt.h.

const std::vector<double>& descartes_trajectory::JointTrajectoryPt::upper ( ) const [inline]

Definition at line 177 of file joint_trajectory_pt.h.

Member Data Documentation

std::vector<double> descartes_trajectory::JointTrajectoryPt::discretization_ [protected]

How finely to discretize each joint.

Definition at line 192 of file joint_trajectory_pt.h.

descartes_trajectory::JointTrajectoryPt::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 70 of file joint_trajectory_pt.h.

std::vector<double> descartes_trajectory::JointTrajectoryPt::lower_ [protected]

Definition at line 190 of file joint_trajectory_pt.h.

std::vector<double> descartes_trajectory::JointTrajectoryPt::nominal_ [protected]

Definition at line 189 of file joint_trajectory_pt.h.

descartes_core::Frame descartes_trajectory::JointTrajectoryPt::tool_ [protected]

Transform from robot wrist to active tool pt.

Definition at line 197 of file joint_trajectory_pt.h.

std::vector<double> descartes_trajectory::JointTrajectoryPt::upper_ [protected]

Definition at line 191 of file joint_trajectory_pt.h.

descartes_core::Frame descartes_trajectory::JointTrajectoryPt::wobj_ [protected]

Transform from world to active workobject pt.

Definition at line 198 of file joint_trajectory_pt.h.

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

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation