Struct PlannedPath

Defined in File pfield.hpp

Struct Documentation

struct PlannedPath

Public Functions

inline PlannedPath()

inline void recordPathPoint(double timeStamp, const SpatialVector &pose, const TaskSpaceTwist &twist, std::vector<double> jointAngles, std::vector<double> jointVelocities = {}, std::vector<double> jointTorques = {}, std::vector<double> linkClearances = {}, Eigen::Vector3d attractionForce = Eigen::Vector3d::Zero(), std::vector<Eigen::Vector3d> repulsiveForces = {})

Records a path point with the given pose, twist, joint angles, and timestamp.

Parameters:

timeStamp – The time stamp for the path point [s]
pose – The EE pose at the path point
twist – The EE twist at the path point
jointAngles – The joint angles at the path point [rad]
jointVelocities – The joint velocities at the path point [rad/s] (optional)
jointTorques – The joint torques at the path point [Nm] (optional)
linkClearances – The minimum clearances between each link and obstacles [m] (optional)
attractionForce – The attractive force vector applied to the EE [N] (optional)
repulsiveForces – The repulsive force vectors applied to each link [N] (optional)

Public Members

std::vector<double> timeStamps

std::vector<SpatialVector> poses

std::vector<TaskSpaceTwist> twists

std::vector<std::vector<double>> jointAngles

std::vector<std::vector<double>> jointVelocities

std::vector<std::vector<double>> jointTorques

std::vector<std::vector<double>> linkObstacleClearances

std::vector<Eigen::Vector3d> attractionForces

std::vector<std::vector<Eigen::Vector3d>> repulsiveForces

unsigned int numPoints

double duration

double dt

double goalTolerance

double rotationalTolerance

bool success = false

std::string planningMethod

std::string failureReason