JointTrajectory Class Reference

#include <trajectory_generator.h>

Public Member Functions
Eigen::MatrixXd	getCoefficient ()
std::vector< WayPoint >	getJointWayPoint (double tick)
void	init (double move_time, double control_time, std::vector< WayPoint > start, std::vector< WayPoint > goal)
	JointTrajectory ()
void	setJointNum (uint8_t joint_num)
virtual	~JointTrajectory ()

Private Attributes
Eigen::MatrixXd	coefficient_
uint8_t	joint_num_
std::vector< WayPoint >	joint_way_point_
MinimumJerk	trajectory_generator_

Detailed Description

Definition at line 53 of file trajectory_generator.h.

Constructor & Destructor Documentation

JointTrajectory()

JointTrajectory::JointTrajectory

(

)

Definition at line 67 of file trajectory_generator.cpp.

~JointTrajectory()

JointTrajectory::~JointTrajectory ( )

virtual

Definition at line 69 of file trajectory_generator.cpp.

Member Function Documentation

getCoefficient()

Eigen::MatrixXd JointTrajectory::getCoefficient

(

)

Definition at line 127 of file trajectory_generator.cpp.

getJointWayPoint()

std::vector< WayPoint > JointTrajectory::getJointWayPoint

(

double

tick

)

Definition at line 93 of file trajectory_generator.cpp.

init()

void JointTrajectory::init	(	double	move_time,
		double	control_time,
		std::vector< WayPoint >	start,
		std::vector< WayPoint >	goal
	)

Definition at line 71 of file trajectory_generator.cpp.

setJointNum()

void JointTrajectory::setJointNum

(

uint8_t

joint_num

)

Definition at line 87 of file trajectory_generator.cpp.

Member Data Documentation

coefficient_

Eigen::MatrixXd JointTrajectory::coefficient_

private

Definition at line 59 of file trajectory_generator.h.

joint_num_

uint8_t JointTrajectory::joint_num_

private

Definition at line 58 of file trajectory_generator.h.

joint_way_point_

std::vector<WayPoint> JointTrajectory::joint_way_point_

private

Definition at line 60 of file trajectory_generator.h.

trajectory_generator_

MinimumJerk JointTrajectory::trajectory_generator_

private

Definition at line 56 of file trajectory_generator.h.

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

• trajectory_generator.h
• trajectory_generator.cpp