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

#include <robot_trajectory.h>

Public Member Functions
void	addPrefixWayPoint (const robot_state::RobotState &state, double dt)
void	addPrefixWayPoint (const robot_state::RobotStatePtr &state, double dt)
void	addSuffixWayPoint (const robot_state::RobotState &state, double dt)
	Add a point to the trajectory.
void	addSuffixWayPoint (const robot_state::RobotStatePtr &state, double dt)
	Add a point to the trajectory.
void	append (const RobotTrajectory &source, double dt)
	Add a trajectory to the end of the current trajectory.
void	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.
double	getAverageSegmentDuration () const
const robot_state::RobotState &	getFirstWayPoint () const
robot_state::RobotStatePtr &	getFirstWayPointPtr ()
const robot_model::JointModelGroup *	getGroup () const
const std::string &	getGroupName () const
const robot_state::RobotState &	getLastWayPoint () const
robot_state::RobotStatePtr &	getLastWayPointPtr ()
const robot_model::RobotModelConstPtr &	getRobotModel () const
void	getRobotTrajectoryMsg (moveit_msgs::RobotTrajectory &trajectory) const
bool	getStateAtDurationFromStart (const double request_duration, robot_state::RobotStatePtr &output_state) const
	Gets a robot state corresponding to a supplied duration from start for the trajectory, using linear time interpolation.
const robot_state::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.
const std::deque< double > &	getWayPointDurations () const
robot_state::RobotStatePtr &	getWayPointPtr (std::size_t index)
void	insertWayPoint (std::size_t index, const robot_state::RobotState &state, double dt)
void	insertWayPoint (std::size_t index, const robot_state::RobotStatePtr &state, double dt)
void	reverse ()
	RobotTrajectory (const robot_model::RobotModelConstPtr &robot_model, const std::string &group)
	RobotTrajectory (const robot_model::RobotModelConstPtr &robot_model, const robot_model::JointModelGroup *group)
void	setGroupName (const std::string &group_name)
void	setRobotTrajectoryMsg (const robot_state::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.
void	setRobotTrajectoryMsg (const robot_state::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.
void	setRobotTrajectoryMsg (const robot_state::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.
void	setWayPointDurationFromPrevious (std::size_t index, double value)
void	swap (robot_trajectory::RobotTrajectory &other)
void	unwind ()
void	unwind (const robot_state::RobotState &state)
Private Attributes
std::deque< double >	duration_from_previous_
const robot_model::JointModelGroup *	group_
robot_model::RobotModelConstPtr	robot_model_
std::deque < robot_state::RobotStatePtr >	waypoints_

Detailed Description

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

Definition at line 52 of file robot_trajectory.h.

Constructor & Destructor Documentation

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

Definition at line 43 of file robot_trajectory.cpp.

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

Definition at line 49 of file robot_trajectory.cpp.

Member Function Documentation

void robot_trajectory::RobotTrajectory::addPrefixWayPoint	(	const robot_state::RobotState &	state,
		double	dt
	)		`[inline]`

Definition at line 161 of file robot_trajectory.h.

void robot_trajectory::RobotTrajectory::addPrefixWayPoint	(	const robot_state::RobotStatePtr &	state,
		double	dt
	)		`[inline]`

Definition at line 166 of file robot_trajectory.h.

void robot_trajectory::RobotTrajectory::addSuffixWayPoint	(	const robot_state::RobotState &	state,
		double	dt
	)		`[inline]`

Add a point to the trajectory.

Parameters:

state	- current robot state
dt	- duration from previous

Definition at line 144 of file robot_trajectory.h.

void robot_trajectory::RobotTrajectory::addSuffixWayPoint	(	const robot_state::RobotStatePtr &	state,
		double	dt
	)		`[inline]`

Add a point to the trajectory.

Parameters:

state	- current robot state
dt	- duration from previous

Definition at line 154 of file robot_trajectory.h.

void robot_trajectory::RobotTrajectory::append	(	const RobotTrajectory &	source,
		double	dt
	)

Add a trajectory to the end of the current trajectory.

Parameters:

source	- the trajectory to append to the end of current trajectory
dt	- time step between last traj point in current traj, and first traj point of new traj

Definition at line 85 of file robot_trajectory.cpp.

void robot_trajectory::RobotTrajectory::clear ( void )

Definition at line 187 of file robot_trajectory.cpp.

bool robot_trajectory::RobotTrajectory::empty ( ) const [inline]

Definition at line 134 of file robot_trajectory.h.

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:

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

Definition at line 371 of file robot_trajectory.cpp.

double robot_trajectory::RobotTrajectory::getAverageSegmentDuration ( ) const

Definition at line 68 of file robot_trajectory.cpp.

const robot_state::RobotState& robot_trajectory::RobotTrajectory::getFirstWayPoint ( ) const [inline]

Definition at line 88 of file robot_trajectory.h.

robot_state::RobotStatePtr& robot_trajectory::RobotTrajectory::getFirstWayPointPtr ( ) [inline]

Definition at line 103 of file robot_trajectory.h.

const robot_model::JointModelGroup* robot_trajectory::RobotTrajectory::getGroup ( ) const [inline]

Definition at line 64 of file robot_trajectory.h.

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

Definition at line 60 of file robot_trajectory.cpp.

const robot_state::RobotState& robot_trajectory::RobotTrajectory::getLastWayPoint ( ) const [inline]

Definition at line 83 of file robot_trajectory.h.

robot_state::RobotStatePtr& robot_trajectory::RobotTrajectory::getLastWayPointPtr ( ) [inline]

Definition at line 98 of file robot_trajectory.h.

const robot_model::RobotModelConstPtr& robot_trajectory::RobotTrajectory::getRobotModel ( ) const [inline]

Definition at line 59 of file robot_trajectory.h.

void robot_trajectory::RobotTrajectory::getRobotTrajectoryMsg ( moveit_msgs::RobotTrajectory & trajectory ) const

Definition at line 193 of file robot_trajectory.cpp.

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

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

Parameters:

The	duration from start.
The	resulting robot state.

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

Definition at line 415 of file robot_trajectory.cpp.

const robot_state::RobotState& robot_trajectory::RobotTrajectory::getWayPoint ( std::size_t index ) const [inline]

Definition at line 78 of file robot_trajectory.h.

std::size_t robot_trajectory::RobotTrajectory::getWayPointCount ( ) const [inline]

Definition at line 73 of file robot_trajectory.h.

double robot_trajectory::RobotTrajectory::getWayPointDurationFromPrevious ( std::size_t index ) const [inline]

Definition at line 119 of file robot_trajectory.h.

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

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

Parameters:

The	waypoint index.

Returns:: The duration from start; retuns -1.0 if index is out of range.

Definition at line 402 of file robot_trajectory.cpp.

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

Definition at line 108 of file robot_trajectory.h.

robot_state::RobotStatePtr& robot_trajectory::RobotTrajectory::getWayPointPtr ( std::size_t index ) [inline]

Definition at line 93 of file robot_trajectory.h.

void robot_trajectory::RobotTrajectory::insertWayPoint	(	std::size_t	index,
		const robot_state::RobotState &	state,
		double	dt
	)		`[inline]`

Definition at line 173 of file robot_trajectory.h.

void robot_trajectory::RobotTrajectory::insertWayPoint	(	std::size_t	index,
		const robot_state::RobotStatePtr &	state,
		double	dt
	)		`[inline]`

Definition at line 178 of file robot_trajectory.h.

void robot_trajectory::RobotTrajectory::reverse ( )

Definition at line 95 of file robot_trajectory.cpp.

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

Definition at line 55 of file robot_trajectory.cpp.

void robot_trajectory::RobotTrajectory::setRobotTrajectoryMsg	(	const robot_state::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 287 of file robot_trajectory.cpp.

void robot_trajectory::RobotTrajectory::setRobotTrajectoryMsg	(	const robot_state::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 313 of file robot_trajectory.cpp.

void robot_trajectory::RobotTrajectory::setRobotTrajectoryMsg	(	const robot_state::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 362 of file robot_trajectory.cpp.

void robot_trajectory::RobotTrajectory::setWayPointDurationFromPrevious	(	std::size_t	index,
		double	value
	)		`[inline]`

Definition at line 127 of file robot_trajectory.h.

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

Definition at line 77 of file robot_trajectory.cpp.

void robot_trajectory::RobotTrajectory::unwind ( )

Definition at line 106 of file robot_trajectory.cpp.

void robot_trajectory::RobotTrajectory::unwind ( const robot_state::RobotState & state )

Definition at line 141 of file robot_trajectory.cpp.

Member Data Documentation

std::deque<double> robot_trajectory::RobotTrajectory::duration_from_previous_ [private]

Definition at line 254 of file robot_trajectory.h.

const robot_model::JointModelGroup* robot_trajectory::RobotTrajectory::group_ [private]

Definition at line 252 of file robot_trajectory.h.

robot_model::RobotModelConstPtr robot_trajectory::RobotTrajectory::robot_model_ [private]

Definition at line 251 of file robot_trajectory.h.

std::deque<robot_state::RobotStatePtr> robot_trajectory::RobotTrajectory::waypoints_ [private]

Definition at line 253 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

Member Function Documentation

Member Data Documentation