Builder creating a trajectory stopping the robot. More...
#include <stop_trajectory_builder.h>
Inheritance diagram for joint_trajectory_controller::StopTrajectoryBuilder< SegmentImpl >:
Public Member Functions | |
| bool | buildTrajectory (Trajectory *hold_traj) override |
| Creates a trajectory which reaches the settle position in a fixed time. More... | |
| StopTrajectoryBuilder (const typename Segment::Time &stop_traj_duration, const typename Segment::State &hold_state) | |
 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 | 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 Segment::State & | hold_state_ |
| Stores a reference to the state where the stop motion shall start. More... | |
| const Segment::Time | stop_traj_duration_ |
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 joint_trajectory_controller::StopTrajectoryBuilder< SegmentImpl >
Builder creating a trajectory stopping the robot.
Definition at line 42 of file stop_trajectory_builder.h.
Member Typedef Documentation
◆ RealtimeGoalHandle
template<class SegmentImpl >
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private |
Definition at line 49 of file stop_trajectory_builder.h.
◆ RealtimeGoalHandlePtr
template<class SegmentImpl >
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private |
Definition at line 50 of file stop_trajectory_builder.h.
◆ Segment
template<class SegmentImpl >
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private |
Definition at line 45 of file stop_trajectory_builder.h.
◆ Trajectory
template<class SegmentImpl >
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private |
Definition at line 47 of file stop_trajectory_builder.h.
◆ TrajectoryPerJoint
template<class SegmentImpl >
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private |
Definition at line 46 of file stop_trajectory_builder.h.
Constructor & Destructor Documentation
◆ StopTrajectoryBuilder()
template<class SegmentImpl >
| joint_trajectory_controller::StopTrajectoryBuilder< SegmentImpl >::StopTrajectoryBuilder | ( | const typename Segment::Time & | stop_traj_duration, |
| const typename Segment::State & | hold_state | ||
| ) |
- Parameters
-
stop_traj_duration Desired time span [seconds] in which the settle position has to be reached. hold_state Reference to the state where the stop motion shall start.
- Note
- If there is a time delay in the system it is better to calculate the stop trajectory starting from the desired position. Otherwise there would be a jerk in the motion.
Definition at line 90 of file stop_trajectory_builder.h.
Member Function Documentation
◆ buildTrajectory()
template<class SegmentImpl >
|
overridevirtual |
Creates a trajectory which reaches the settle position in a fixed time.
The calculation is done as follows:
- Create segment that goes from current (pos,vel) to (pos,-vel) in 2x the desired stop time.
- Assuming segment symmetry, sample segment at its midpoint (desired stop time). It should have zero velocity.
- Create segment that goes from current state to above zero velocity state, in the desired time.
- Note
- The symmetry assumption from the second point above might not hold for all possible segment types.
- Returns
- true if the building of the stop trajectory succeeds, otherwise false.
Implements joint_trajectory_controller::TrajectoryBuilder< SegmentImpl >.
Definition at line 98 of file stop_trajectory_builder.h.
Member Data Documentation
◆ hold_end_state_
template<class SegmentImpl >
|
private |
Definition at line 86 of file stop_trajectory_builder.h.
◆ hold_start_state_
template<class SegmentImpl >
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private |
Definition at line 85 of file stop_trajectory_builder.h.
◆ hold_state_
template<class SegmentImpl >
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private |
Stores a reference to the state where the stop motion shall start.
Definition at line 82 of file stop_trajectory_builder.h.
◆ stop_traj_duration_
template<class SegmentImpl >
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private |
Definition at line 80 of file stop_trajectory_builder.h.
The documentation for this class was generated from the following file: