Builder creating a trajectory "simply" holding (without motion) the specified position. More...
#include <hold_trajectory_builder.h>
Inheritance diagram for joint_trajectory_controller::HoldTrajectoryBuilder< SegmentImpl, HardwareInterface >:
Public Member Functions | |
| bool | buildTrajectory (Trajectory *hold_traj) override |
| See base class. More... | |
| HoldTrajectoryBuilder (const std::vector< JointHandle > &joints) | |
 Public Member Functions inherited from joint_trajectory_controller::TrajectoryBuilder< SegmentImpl > | |
| virtual void | reset () |
| Ensures re-usability by allowing the user to reset members of the builder which should be reset between calls to buildTrajectory(). More... | |
| TrajectoryBuilder< SegmentImpl > * | setGoalHandle (RealtimeGoalHandlePtr &goal_handle) |
| Set the goal handle that will be attached to the trajectory segments. More... | |
| TrajectoryBuilder< SegmentImpl > * | setStartTime (const typename Segment::Time &start_time) |
| Set the start time [seconds] of the trajectory to be built. More... | |
| virtual | ~TrajectoryBuilder ()=default |
| Virtual destructor because this class is a base class. More... | |
Private Types | |
| using | JointHandle = typename HardwareInterface::ResourceHandleType |
| using | RealtimeGoalHandle = realtime_tools::RealtimeServerGoalHandle< control_msgs::FollowJointTrajectoryAction > |
| using | RealtimeGoalHandlePtr = boost::shared_ptr< RealtimeGoalHandle > |
| using | Segment = JointTrajectorySegment< SegmentImpl > |
| using | Trajectory = std::vector< TrajectoryPerJoint > |
| using | TrajectoryPerJoint = std::vector< Segment > |
Private Attributes | |
| Segment::State | hold_end_state_ {typename Segment::State(1)} |
| Segment::State | hold_start_state_ {typename Segment::State(1)} |
| const std::vector< JointHandle > & | joints_ |
Additional Inherited Members | |
| Protected Member Functions inherited from joint_trajectory_controller::TrajectoryBuilder< SegmentImpl > | |
| RealtimeGoalHandlePtr | createGoalHandlePtr () const |
| Return the set goal handle or a default one, if no goal handle was set. More... | |
| const boost::optional< typename Segment::Time > & | getStartTime () const |
| Return the set start time. More... | |
| Static Protected Member Functions inherited from joint_trajectory_controller::TrajectoryBuilder< SegmentImpl > | |
| static RealtimeGoalHandlePtr | createDefaultGoalHandle () |
| static bool | isTrajectoryValid (const Trajectory *trajectory, const unsigned int expected_number_of_joints, const unsigned int expected_number_of_segments) |
| Check if the elements of a given trajectory are sized properly. More... | |
Detailed Description
template<class SegmentImpl, class HardwareInterface>
class joint_trajectory_controller::HoldTrajectoryBuilder< SegmentImpl, HardwareInterface >
Builder creating a trajectory "simply" holding (without motion) the specified position.
Definition at line 43 of file hold_trajectory_builder.h.
Member Typedef Documentation
◆ JointHandle
template<class SegmentImpl , class HardwareInterface >
|
private |
Definition at line 53 of file hold_trajectory_builder.h.
◆ RealtimeGoalHandle
template<class SegmentImpl , class HardwareInterface >
|
private |
Definition at line 50 of file hold_trajectory_builder.h.
◆ RealtimeGoalHandlePtr
template<class SegmentImpl , class HardwareInterface >
|
private |
Definition at line 51 of file hold_trajectory_builder.h.
◆ Segment
template<class SegmentImpl , class HardwareInterface >
|
private |
Definition at line 46 of file hold_trajectory_builder.h.
◆ Trajectory
template<class SegmentImpl , class HardwareInterface >
|
private |
Definition at line 48 of file hold_trajectory_builder.h.
◆ TrajectoryPerJoint
template<class SegmentImpl , class HardwareInterface >
|
private |
Definition at line 47 of file hold_trajectory_builder.h.
Constructor & Destructor Documentation
◆ HoldTrajectoryBuilder()
template<class SegmentImpl , class HardwareInterface >
| joint_trajectory_controller::HoldTrajectoryBuilder< SegmentImpl, HardwareInterface >::HoldTrajectoryBuilder | ( | const std::vector< JointHandle > & | joints | ) |
- Parameters
-
joints Handles to the controlled joints. Stored for obtaining the current positions at any time.
Definition at line 75 of file hold_trajectory_builder.h.
Member Function Documentation
◆ buildTrajectory()
template<class SegmentImpl , class HardwareInterface >
|
overridevirtual |
See base class.
Implements joint_trajectory_controller::TrajectoryBuilder< SegmentImpl >.
Definition at line 82 of file hold_trajectory_builder.h.
Member Data Documentation
◆ hold_end_state_
template<class SegmentImpl , class HardwareInterface >
|
private |
Definition at line 70 of file hold_trajectory_builder.h.
◆ hold_start_state_
template<class SegmentImpl , class HardwareInterface >
|
private |
Definition at line 69 of file hold_trajectory_builder.h.
◆ joints_
template<class SegmentImpl , class HardwareInterface >
|
private |
Definition at line 66 of file hold_trajectory_builder.h.
The documentation for this class was generated from the following file: