#include <RefValJS_PTP_Trajectory.h>

Inheritance diagram for RefValJS_PTP_Trajectory:

Public Member Functions
std::vector< double >	dr_ds (double s) const

double	ds_dt (double t) const

std::vector< double >	getLengthParts () const

double	getTotalTime () const

std::vector< double >	r (double s) const

	RefValJS_PTP_Trajectory (const trajectory_msgs::JointTrajectory &trajectory, double v_rad_s, double a_rad_s2, bool smooth=false)

double	s (double t) const

Public Member Functions inherited from RefVal_JS
virtual std::vector< double >	dr_dt (double t) const

virtual std::vector< double >	getLast () const

virtual std::vector< double >	r_t (double t) const

Protected Types
typedef std::vector< double >	vecd

typedef std::vector< double >::const_iterator	vecd_it

Protected Member Functions
double	norm (const std::vector< double > &j)

double	norm_max (const std::vector< double > &j)

double	norm_sqr (const std::vector< double > &j)

double	norm_weighted (const std::vector< double > &j)

Protected Attributes
double	m_a_rad_s2

double	m_length

vecd	m_length_cumulated

vecd	m_length_parts

double	m_param_length

vecd	m_s_parts

double	m_sa1

double	m_sa3

std::vector< std::vector< double > >	m_SplinePoints

double	m_stepSize

double	m_sv2

double	m_T1

double	m_T2

double	m_T3

trajectory_msgs::JointTrajectory	m_trajectory

BSplineND< std::vector< double > >	m_TrajectorySpline

double	m_v_rad_s

Static Protected Attributes
static const double	weigths [] = { 1.5, 1.5, 1.0, 1.0, 0.8, 0.8, 0.7 }

Detailed Description

Definition at line 27 of file RefValJS_PTP_Trajectory.h.

Member Typedef Documentation

typedef std::vector<double> RefValJS_PTP_Trajectory::vecd

protected

Definition at line 58 of file RefValJS_PTP_Trajectory.h.

typedef std::vector<double>::const_iterator RefValJS_PTP_Trajectory::vecd_it

protected

Definition at line 59 of file RefValJS_PTP_Trajectory.h.

Constructor & Destructor Documentation

RefValJS_PTP_Trajectory::RefValJS_PTP_Trajectory	(	const trajectory_msgs::JointTrajectory &	trajectory,
		double	v_rad_s,
		double	a_rad_s2,
		bool	smooth = `false`
	)

Definition at line 33 of file RefValJS_PTP_Trajectory.cpp.

Member Function Documentation

std::vector< double > RefValJS_PTP_Trajectory::dr_ds ( double s ) const

virtual

Implements RefVal_JS.

Definition at line 244 of file RefValJS_PTP_Trajectory.cpp.

double RefValJS_PTP_Trajectory::ds_dt ( double t ) const

virtual

Implements RefVal_JS.

Definition at line 224 of file RefValJS_PTP_Trajectory.cpp.

std::vector<double> RefValJS_PTP_Trajectory::getLengthParts ( ) const

inline

Definition at line 49 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::getTotalTime ( ) const

inlinevirtual

Implements RefVal_JS.

Definition at line 47 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::norm ( const std::vector< double > & j )

inlineprotected

Definition at line 87 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::norm_max ( const std::vector< double > & j )

inlineprotected

Definition at line 93 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::norm_sqr ( const std::vector< double > & j )

inlineprotected

Definition at line 104 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::norm_weighted ( const std::vector< double > & j )

inlineprotected

Definition at line 114 of file RefValJS_PTP_Trajectory.h.

std::vector< double > RefValJS_PTP_Trajectory::r ( double s ) const

virtual

Implements RefVal_JS.

Definition at line 161 of file RefValJS_PTP_Trajectory.cpp.

double RefValJS_PTP_Trajectory::s ( double t ) const

virtual

Implements RefVal_JS.

Definition at line 205 of file RefValJS_PTP_Trajectory.cpp.

Member Data Documentation

double RefValJS_PTP_Trajectory::m_a_rad_s2

protected

Definition at line 73 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::m_length

protected

Definition at line 69 of file RefValJS_PTP_Trajectory.h.

vecd RefValJS_PTP_Trajectory::m_length_cumulated

protected

Definition at line 61 of file RefValJS_PTP_Trajectory.h.

vecd RefValJS_PTP_Trajectory::m_length_parts

protected

Definition at line 60 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::m_param_length

protected

Definition at line 70 of file RefValJS_PTP_Trajectory.h.

vecd RefValJS_PTP_Trajectory::m_s_parts

protected

Definition at line 62 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::m_sa1

protected

Definition at line 79 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::m_sa3

protected

Definition at line 81 of file RefValJS_PTP_Trajectory.h.

std::vector< std::vector<double> > RefValJS_PTP_Trajectory::m_SplinePoints

protected

Definition at line 65 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::m_stepSize

protected

Definition at line 68 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::m_sv2

protected

Definition at line 80 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::m_T1

protected

Definition at line 75 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::m_T2

protected

Definition at line 76 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::m_T3

protected

Definition at line 77 of file RefValJS_PTP_Trajectory.h.

trajectory_msgs::JointTrajectory RefValJS_PTP_Trajectory::m_trajectory

protected

Definition at line 56 of file RefValJS_PTP_Trajectory.h.

BSplineND< std::vector<double> > RefValJS_PTP_Trajectory::m_TrajectorySpline

protected

Definition at line 64 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::m_v_rad_s

protected

Definition at line 72 of file RefValJS_PTP_Trajectory.h.

const double RefValJS_PTP_Trajectory::weigths = { 1.5, 1.5, 1.0, 1.0, 0.8, 0.8, 0.7 }

staticprotected

Definition at line 83 of file RefValJS_PTP_Trajectory.h.

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

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Static Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation