joint_trajectory_controller::TrajectoryBuilder< SegmentImpl > Class Template Reference

Base class for classes used to construct diffent trajectory types. More...

#include <trajectory_builder.h>

Inheritance diagram for joint_trajectory_controller::TrajectoryBuilder< SegmentImpl >:

Public Member Functions
virtual bool	buildTrajectory (Trajectory *trajectory)=0
	Creates the type of trajectory described by the builder. More...
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...

Protected Member Functions
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
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...

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
boost::optional< RealtimeGoalHandlePtr & >	goal_handle_ {boost::none}
boost::optional< typename Segment::Time >	start_time_ {boost::none}

Detailed Description

template<class SegmentImpl>
class joint_trajectory_controller::TrajectoryBuilder< SegmentImpl >

Base class for classes used to construct diffent trajectory types.

A derived class has to implement buildTrajectory().

The following code snippet shows the intended usage of a builder class:

builder.setStartTime(start_time);
builder.setGoalHandle(goal_handle);
builder.buildTrajectory(trajectory);

Setting a start time is mandatory whereas setting a goal handle can be omitted. Also note that trajectory has to reference a valid trajectory (see isTrajectoryValid()).

Definition at line 64 of file trajectory_builder.h.

Member Typedef Documentation

RealtimeGoalHandle

template<class SegmentImpl>

using joint_trajectory_controller::TrajectoryBuilder< SegmentImpl >::RealtimeGoalHandle = realtime_tools::RealtimeServerGoalHandle<control_msgs::FollowJointTrajectoryAction>

private

Definition at line 77 of file trajectory_builder.h.

RealtimeGoalHandlePtr

template<class SegmentImpl>

using joint_trajectory_controller::TrajectoryBuilder< SegmentImpl >::RealtimeGoalHandlePtr = boost::shared_ptr<RealtimeGoalHandle>

private

Definition at line 78 of file trajectory_builder.h.

Segment

template<class SegmentImpl>

using joint_trajectory_controller::TrajectoryBuilder< SegmentImpl >::Segment = JointTrajectorySegment<SegmentImpl>

private

Definition at line 73 of file trajectory_builder.h.

Trajectory

template<class SegmentImpl>

using joint_trajectory_controller::TrajectoryBuilder< SegmentImpl >::Trajectory = std::vector<TrajectoryPerJoint>

private

Definition at line 75 of file trajectory_builder.h.

TrajectoryPerJoint

template<class SegmentImpl>

using joint_trajectory_controller::TrajectoryBuilder< SegmentImpl >::TrajectoryPerJoint = std::vector<Segment>

private

Definition at line 74 of file trajectory_builder.h.

Constructor & Destructor Documentation

~TrajectoryBuilder()

template<class SegmentImpl>

virtual joint_trajectory_controller::TrajectoryBuilder< SegmentImpl >::~TrajectoryBuilder ( )

virtualdefault

Virtual destructor because this class is a base class.

Member Function Documentation

buildTrajectory()

template<class SegmentImpl>

virtual bool joint_trajectory_controller::TrajectoryBuilder< SegmentImpl >::buildTrajectory ( Trajectory *  trajectory )

pure virtual

Creates the type of trajectory described by the builder.

Parameters

trajectory

[Out] Trajectory which has to be build.

Implemented in joint_trajectory_controller::StopTrajectoryBuilder< SegmentImpl >, and joint_trajectory_controller::HoldTrajectoryBuilder< SegmentImpl, HardwareInterface >.

createDefaultGoalHandle()

template<class SegmentImpl >

TrajectoryBuilder< SegmentImpl >::RealtimeGoalHandlePtr joint_trajectory_controller::TrajectoryBuilder< SegmentImpl >::createDefaultGoalHandle ( )

inlinestaticprotected

Definition at line 165 of file trajectory_builder.h.

createGoalHandlePtr()

template<class SegmentImpl >

TrajectoryBuilder< SegmentImpl >::RealtimeGoalHandlePtr joint_trajectory_controller::TrajectoryBuilder< SegmentImpl >::createGoalHandlePtr ( ) const

inlineprotected

Return the set goal handle or a default one, if no goal handle was set.

Definition at line 159 of file trajectory_builder.h.

getStartTime()

template<class SegmentImpl >

const boost::optional< typename TrajectoryBuilder< SegmentImpl >::Segment::Time > & joint_trajectory_controller::TrajectoryBuilder< SegmentImpl >::getStartTime ( ) const

inlineprotected

Return the set start time.

Definition at line 146 of file trajectory_builder.h.

isTrajectoryValid()

template<class SegmentImpl >

bool joint_trajectory_controller::TrajectoryBuilder< SegmentImpl >::isTrajectoryValid ( const Trajectory *  trajectory, const unsigned int  expected_number_of_joints, const unsigned int  expected_number_of_segments  )

staticprotected

Check if the elements of a given trajectory are sized properly.

Parameters

trajectory
expected_number_of_joints	The count of TrajectoryPerJoint in trajectory has to match the number of joints.
expected_number_of_segments	Each TrajectoryPerJoint in trajectory has to contain this number of segments.

Definition at line 178 of file trajectory_builder.h.

reset()

template<class SegmentImpl >

void joint_trajectory_controller::TrajectoryBuilder< SegmentImpl >::reset ( )

inlinevirtual

Ensures re-usability by allowing the user to reset members of the builder which should be reset between calls to buildTrajectory().

Definition at line 171 of file trajectory_builder.h.

setGoalHandle()

template<class SegmentImpl>

TrajectoryBuilder< SegmentImpl > * joint_trajectory_controller::TrajectoryBuilder< SegmentImpl >::setGoalHandle ( RealtimeGoalHandlePtr &  goal_handle )

inline

Set the goal handle that will be attached to the trajectory segments.

The goal handle is reset by reset().

Definition at line 152 of file trajectory_builder.h.

setStartTime()

template<class SegmentImpl>

TrajectoryBuilder< SegmentImpl > * joint_trajectory_controller::TrajectoryBuilder< SegmentImpl >::setStartTime ( const typename Segment::Time &  start_time )

inline

Set the start time [seconds] of the trajectory to be built.

The start time is reset by reset().

Definition at line 139 of file trajectory_builder.h.

Member Data Documentation

goal_handle_

template<class SegmentImpl>

boost::optional<RealtimeGoalHandlePtr&> joint_trajectory_controller::TrajectoryBuilder< SegmentImpl >::goal_handle_ {boost::none}

private

Definition at line 134 of file trajectory_builder.h.

start_time_

template<class SegmentImpl>

boost::optional<typename Segment::Time> joint_trajectory_controller::TrajectoryBuilder< SegmentImpl >::start_time_ {boost::none}

private

Definition at line 131 of file trajectory_builder.h.

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

• trajectory_builder.h