Represents a smooth trajectory through a set of waypoints. More...

#include <trajectory.hpp>

Public Member Functions
double	getDuration () const
	The time (in seconds) between the start and end of this trajectory. More...

double	getEndTime () const
	Get the time (in seconds) at which the defined trajectory ends. More...

size_t	getJointCount () const
	The number of independent position trajectories over the same time domain that are managed by this object. More...

double	getStartTime () const
	Get the time (in seconds) at which the defined trajectory begins. More...

bool	getState (double time, VectorXd position, VectorXd velocity, VectorXd *acceleration) const
	Returns the position, velocity, and acceleration for a given point in time along the trajectory. More...

size_t	getWaypointCount () const
	The number of fixed waypoints that each joint is moving through. More...

	~Trajectory () noexcept
	Destructor cleans up resources for trajectory. More...

Static Public Member Functions
static std::shared_ptr< Trajectory >	createUnconstrainedQp (const VectorXd &time_vector, const MatrixXd &positions, const MatrixXd velocities=nullptr, const MatrixXd accelerations=nullptr)
	Creates a smooth trajectory through a set of waypoints (position velocity and accelerations defined at particular times). This trajectory wrapper object can create multi-dimensional trajectories (i.e., multiple joints moving together using the same time reference). More...

Private Member Functions
	Trajectory (std::vector< HebiTrajectoryPtr > trajectories, size_t number_of_waypoints, double start_time, double end_time)

Private Attributes
const double	end_time_

const size_t	number_of_joints_

const size_t	number_of_waypoints_

const double	start_time_

std::vector< HebiTrajectoryPtr >	trajectories_

Detailed Description

Represents a smooth trajectory through a set of waypoints.

Definition at line 17 of file trajectory.hpp.

Constructor & Destructor Documentation

hebi::trajectory::Trajectory::Trajectory	(	std::vector< HebiTrajectoryPtr >	trajectories,
		size_t	number_of_waypoints,
		double	start_time,
		double	end_time
	)

private

Creates a Trajectory from a list of the underlying C-style objects.

Definition at line 6 of file trajectory.cpp.

hebi::trajectory::Trajectory::~Trajectory ( )

noexcept

Destructor cleans up resources for trajectory.

Definition at line 116 of file trajectory.cpp.

Member Function Documentation

std::shared_ptr< Trajectory > hebi::trajectory::Trajectory::createUnconstrainedQp	(	const VectorXd &	time_vector,
		const MatrixXd &	positions,
		const MatrixXd *	velocities = `nullptr`,
		const MatrixXd *	accelerations = `nullptr`
	)

static

Creates a smooth trajectory through a set of waypoints (position velocity and accelerations defined at particular times). This trajectory wrapper object can create multi-dimensional trajectories (i.e., multiple joints moving together using the same time reference).

Parameters

time_vector	A vector of desired times at which to reach each waypoint; this must be defined (and not NAN for any element).
positions	A matrix of waypoint joint positions (in SI units). The number of rows should be equal to the number of joints, and the number of columns equal to the number of waypoints. Any elements that are NAN will be considered free parameters when solving for a trajectory. Values of +/-infinity are not allowed.
velocities	An optional matrix of velocity constraints at the corresponding waypoints; should either be nullptr or matching the size of the positions matrix. Any elements that are NAN will be considered free parameters when solving for a trajectory. Values of +/-infinity are not allowed.
accelerations	An optional matrix of acceleration constraints at the corresponding waypoints; should either be nullptr or matching the size of the positions matrix. Any elements that are NAN will be considered free parameters when solving for a trajectory. Values of +/-infinity are not allowed.

Returns: A HebiTrajectory object if there were no errors, and the trajectory has been created. An empty shared_ptr indicates that there was an error in creating the trajectory.

Definition at line 15 of file trajectory.cpp.

double hebi::trajectory::Trajectory::getDuration ( ) const

The time (in seconds) between the start and end of this trajectory.

Definition at line 122 of file trajectory.cpp.

double hebi::trajectory::Trajectory::getEndTime ( ) const

inline

Get the time (in seconds) at which the defined trajectory ends.

Definition at line 110 of file trajectory.hpp.

size_t hebi::trajectory::Trajectory::getJointCount ( ) const

inline

The number of independent position trajectories over the same time domain that are managed by this object.

Definition at line 95 of file trajectory.hpp.

double hebi::trajectory::Trajectory::getStartTime ( ) const

inline

Get the time (in seconds) at which the defined trajectory begins.

Definition at line 105 of file trajectory.hpp.

bool hebi::trajectory::Trajectory::getState	(	double	time,
		VectorXd *	position,
		VectorXd *	velocity,
		VectorXd *	acceleration
	)		const

Returns the position, velocity, and acceleration for a given point in time along the trajectory.

Parameters

time	The time for which the trajectory state is being queried. This should be between the start and end of the trajectory.
position	If not nullptr, this vector is filled in with the position along the trajectory for each joint at the given time.
velocity	If not nullptr, this vector is filled in with the velocity along the trajectory for each joint at the given time.
acceleration	If not nullptr, this vector is filled in with the acceleration along the trajectory for each joint at the given time.

Definition at line 128 of file trajectory.cpp.

size_t hebi::trajectory::Trajectory::getWaypointCount ( ) const

inline

The number of fixed waypoints that each joint is moving through.

Definition at line 100 of file trajectory.hpp.

Member Data Documentation

const double hebi::trajectory::Trajectory::end_time_

private

The time at which the trajectory ends (seconds).

Definition at line 43 of file trajectory.hpp.

const size_t hebi::trajectory::Trajectory::number_of_joints_

private

The number of modules controlled by this trajectory.

Definition at line 28 of file trajectory.hpp.

const size_t hebi::trajectory::Trajectory::number_of_waypoints_

private

The number of waypoints in this trajectory.

Definition at line 33 of file trajectory.hpp.

const double hebi::trajectory::Trajectory::start_time_

private

The time at which the trajectory starts (seconds).

Definition at line 38 of file trajectory.hpp.

std::vector<HebiTrajectoryPtr> hebi::trajectory::Trajectory::trajectories_

private

C-style trajectory objects (one for each module)

Definition at line 23 of file trajectory.hpp.

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

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation