WayPoint specialisation with joint (motor) angle storage format. More...

#include <waypoint.hpp>

Public Types
typedef Array< double >	JointDataArray
	A convenient typedef to the underlying storage array. More...

Public Member Functions
Array< double > &	accelerations ()
	Handle to the joint angle accelerations array. More...

const Array< double > &	accelerations () const

Array< double > &	angles ()
	Handle to the joint angle array. More...

const Array< double > &	angles () const

bool	approx (const WayPoint< JointAngles > &other, const double &epsilon=0.01)
	Approximately operator for waypoints. More...

unsigned int	dimension () const
	Return the waypoint dimension. More...

Array< double > &	nominalRates ()
	Handle to the nominal angle rates array. More...

void	nominalRates (double nom_rate)
	Configures the nominal rates with a common value. More...

bool	operator!= (const WayPoint< JointAngles > &other) const
	Inequality operator for waypoints. More...

bool	operator== (const WayPoint< JointAngles > &other) const
	Equality operator for waypoints. More...

Array< double > &	rates ()
	Handle to the joint angle rates array. More...

const Array< double > &	rates () const

void	redimension (const unsigned int &dimension)

	WayPoint ()
	Default constructor. More...

	WayPoint (const unsigned int &dimension)
	Configures the waypoint for a specific dimension. More...

	WayPoint (const WayPoint< JointAngles > &waypoint)
	Copy constructor. More...

virtual	~WayPoint ()

Public Attributes
Parameter< bool >	accelerations_configured
	Accelerations have been configured for this waypoint. More...

Parameter< double >	duration
	Timestamp for this waypoint. More...

Parameter< std::string >	name
	String name identifier. More...

Parameter< bool >	rates_configured
	Rates have been configured for this waypoint. More...

Private Attributes
JointDataArray	angle_accelerations

JointDataArray	angle_positions

JointDataArray	angle_rates

JointDataArray	nominal_rates

Friends
template<typename OutputStream >
OutputStream &	operator<< (OutputStream &ostream, WayPoint< JointAngles > &waypoint)
	Streaming output insertion operator for for waypoints. More...

Detailed Description

template<>
class ecl::WayPoint< JointAngles >

WayPoint specialisation with joint (motor) angle storage format.

This class can be used to store waypoints in joint/motor angle format. It is not especially useful for navigational waypoints, but often the only storage format required for robotic arm tasks. This is intended to be a very light class.

Template Parameters

N	: no. of degrees of freedom for this waypoint.

See also: WayPoint.

Definition at line 73 of file waypoint.hpp.

Member Typedef Documentation

typedef Array<double> ecl::WayPoint< JointAngles >::JointDataArray

A convenient typedef to the underlying storage array.

Definition at line 76 of file waypoint.hpp.

Constructor & Destructor Documentation

ecl::WayPoint< JointAngles >::WayPoint ( )

inline

Default constructor.

Configures the waypoint to be of zero dimension. Make sure you use the redimension function later to set the dimension.

Definition at line 88 of file waypoint.hpp.

ecl::WayPoint< JointAngles >::WayPoint ( const unsigned int & dimension )

inline

Configures the waypoint for a specific dimension.

Configuring the waypoint requires setting of many required and optional parameters, some of which are initialised at construction and some of which are later calculated. This is usually beyond the scope of defining a simple constructor (though a very simple configuration is deployed through the alternative constructor here). Consequently, manual configuration must be utilised if you use this constructor:

Waypoint<JointAngles> waypoint(4);
waypoint.name("Raised Position");               // String identifier (not req'd).
waypoint.nominalRates(1.0);                     // Sets a common nominal rate to the next waypoint.
waypoint.nominalRates << 1.0, 1.0, 0.8, 0.8;     // Sets specific angular rates to the next waypoint.
waypoint.angles() << 1.57, 1.57, 0, 0;           // Joint angle specification.

Angle rates and accelerations are currently only configured by the interpolation techniques that act on the waypoints. At some stage though, this may change if we want more flexible, higher order interpolating functionalities.

waypoint.rates() << 1.0, 1.0, 0.5, 0.5;          // Joint angle rates specification.
waypoint.accelerations() << 0.0, 0.0, 0.0, 0.0;  // Joint angle accelerations specification.
waypoint.duration(3.00);                        // Useful if you set a nominalRate of 0.0.

Definition at line 120 of file waypoint.hpp.

ecl::WayPoint< JointAngles >::WayPoint ( const WayPoint< JointAngles > & waypoint )

inline

Copy constructor.

Parameters

waypoint

Returns

Definition at line 137 of file waypoint.hpp.

virtual ecl::WayPoint< JointAngles >::~WayPoint ( )

inlinevirtual

Definition at line 148 of file waypoint.hpp.

Member Function Documentation

Array<double>& ecl::WayPoint< JointAngles >::accelerations ( )

inline

Handle to the joint angle accelerations array.

Supplies a handle to the joint angle accelerations array which can be used to set/modify joint angle acceleration information (can use the comma initialiser).

The joint angle accelerations represent the specified angular acceleration that must be attained as a trajectory moves through this waypoint. It is not always necessary depending on the type of interpolation being used (cubic spline vs quintic spline) and the location of the waypoint in the trajectory (boundary vs internal).

When using this method, the waypoint is flagged as having had its angular accelerations configured.

Note a convenient way to set the information is to use the comma initialiser of the underlying angle array:

waypoint.accelerations() = 1.0, 1.0, 0, 0;

Returns: Array<double>& : handle to the joint angle accelerations array.

Definition at line 254 of file waypoint.hpp.

const Array<double>& ecl::WayPoint< JointAngles >::accelerations ( ) const

inline

The const version of accelerations()

Returns

Definition at line 262 of file waypoint.hpp.

Array<double>& ecl::WayPoint< JointAngles >::angles ( )

inline

Handle to the joint angle array.

Supplies a handle to the joint angle array which can be used to set/modify joint angle information (can use the comma initialiser).

Note a convenient way to set the angle information is to use the comma initialiser of the underlying angle array:

waypoint.angles() = 1.57, 1.57, 0, 0;

Returns: Array<double>& : handle to the joint angle array.

Definition at line 186 of file waypoint.hpp.

const Array<double>& ecl::WayPoint< JointAngles >::angles ( ) const

inline

The const version of angles()

Returns

Definition at line 191 of file waypoint.hpp.

bool ecl::WayPoint< JointAngles >::approx	(	const WayPoint< JointAngles > &	other,
		const double &	epsilon = `0.01`
	)

inline

Approximately operator for waypoints.

This is useful as a quick check to see if one waypoint is very similar to another. It returns false if any individual angle difference (not the sum) is greater than the supplied epsilon.

Parameters

other	: the waypoint to check against.
epsilon	: approximate to this value of approximateness.

Returns: bool : true if all angles are approximately equal, false otherwise.

Definition at line 346 of file waypoint.hpp.

unsigned int ecl::WayPoint< JointAngles >::dimension ( ) const

inline

Return the waypoint dimension.

The number of joints used to compose the waypoint.

Returns: const unsigned int& the dimension of the waypoint.

Definition at line 160 of file waypoint.hpp.

Array<double>& ecl::WayPoint< JointAngles >::nominalRates ( )

inline

Handle to the nominal angle rates array.

Supplies a handle to the nominal rates array which can be used to set/modify the individual nominal rates (can use the comma initialiser).

The nominal rates represent the recommended (which may be ignored by the interpolation method) average angular rate to be used over the ensuing segment until the next waypoint is reached.

Note a convenient way to set the values is to use the comma initialiser of the underlying array:

waypoint.nominalRates() = 1.00, 1.00, 0.60, 0.60;

Returns: Array<double>>& : handle to the maximum rates array.

Definition at line 284 of file waypoint.hpp.

void ecl::WayPoint< JointAngles >::nominalRates ( double nom_rate )

inline

Configures the nominal rates with a common value.

Configures the nominal angular rate the next segment of each joint to a common value.

Parameters

nom_rate : the blanket nominal angular rate to set for each joint.

Definition at line 293 of file waypoint.hpp.

bool ecl::WayPoint< JointAngles >::operator!= ( const WayPoint< JointAngles > & other ) const

inline

Inequality operator for waypoints.

This is useful as a quick check to see if one waypoint doesn't match another.

Parameters

other : the waypoint to check against.

Returns: bool : true if not all angles are equal, false otherwise.

Definition at line 326 of file waypoint.hpp.

bool ecl::WayPoint< JointAngles >::operator== ( const WayPoint< JointAngles > & other ) const

inline

Equality operator for waypoints.

This is useful as a quick check to see if one waypoint doesn't match another.

Parameters

other : the waypoint to check against.

Returns: bool : true if all angles are equal, false otherwise.

Definition at line 308 of file waypoint.hpp.

Array<double>& ecl::WayPoint< JointAngles >::rates ( )

inline

Handle to the joint angle rates array.

Supplies a handle to the joint angle rates array which can be used to set/modify joint angle rate information (can use the comma initialiser).

The joint angle rates represent the specified angular rate that must be attained as a trajectory moves through this waypoint. It is not always necessary depending on the type of interpolation being used (cubic spline vs quintic spline) and the location of the waypoint in the trajectory (boundary vs internal).

When using this method, the waypoint is flagged as having had its angular rates configured.

Note a convenient way to set the information is to use the comma initialiser of the underlying angle array:

waypoint.rates() << 1.0, 1.0, 0, 0;

I don't actually really like this - because we've actually got no real guarantee that the lazy bastard outside the class actually configured the values.

Returns: Array<double>& : handle to the joint angle rates array.

Definition at line 219 of file waypoint.hpp.

const Array<double>& ecl::WayPoint< JointAngles >::rates ( ) const

inline

The const version of rates().

Returns

Definition at line 227 of file waypoint.hpp.

void ecl::WayPoint< JointAngles >::redimension ( const unsigned int & dimension )

inline

Parameters

dimension

Definition at line 166 of file waypoint.hpp.

Friends And Related Function Documentation

template<typename OutputStream >

OutputStream& operator<<	(	OutputStream &	ostream,
		WayPoint< JointAngles > &	waypoint
	)

friend

Streaming output insertion operator for for waypoints.

Streaming output insertion operator for waypoints.

Template Parameters

OutputStream : the type of stream being used.

Parameters

ostream	: the output stream being used.
waypoint	: the waypoint.

Returns: OutputStream : the output stream.

Definition at line 392 of file waypoint.hpp.

Member Data Documentation

Parameter<bool> ecl::WayPoint< JointAngles >::accelerations_configured

Accelerations have been configured for this waypoint.

Definition at line 378 of file waypoint.hpp.

JointDataArray ecl::WayPoint< JointAngles >::angle_accelerations

private

Definition at line 383 of file waypoint.hpp.

JointDataArray ecl::WayPoint< JointAngles >::angle_positions

private

Definition at line 381 of file waypoint.hpp.

JointDataArray ecl::WayPoint< JointAngles >::angle_rates

private

Definition at line 382 of file waypoint.hpp.

Parameter<double> ecl::WayPoint< JointAngles >::duration

Timestamp for this waypoint.

Definition at line 376 of file waypoint.hpp.

Parameter<std::string> ecl::WayPoint< JointAngles >::name

String name identifier.

Definition at line 375 of file waypoint.hpp.

JointDataArray ecl::WayPoint< JointAngles >::nominal_rates

private

Definition at line 384 of file waypoint.hpp.

Parameter<bool> ecl::WayPoint< JointAngles >::rates_configured

Rates have been configured for this waypoint.

Definition at line 377 of file waypoint.hpp.

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

waypoint.hpp

Public Types

Public Member Functions

Public Attributes

Private Attributes

Friends

Detailed Description

template<> class ecl::WayPoint< JointAngles >

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation

template<>
class ecl::WayPoint< JointAngles >