trajectory_generator.h

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/*******************************************************************************
* Copyright 2018 ROBOTIS CO., LTD.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
*     http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
 
/* Authors: Darby Lim, Hye-Jong KIM, Ryan Shim, Yong-Ho Na */
 
#ifndef TRAJECTORY_GENERATOR_H_
#define TRAJECTORY_GENERATOR_H_
 
#include <math.h>
#include <vector>
 
#include <eigen3/Eigen/Eigen>
#include <eigen3/Eigen/LU>
#include <eigen3/Eigen/QR>
 
typedef struct _Point
{
  double position;
  double velocity;
  double acceleration;
} WayPoint;
 
class MinimumJerk
{
private:
  Eigen::VectorXd coefficient_;
 
public:
  MinimumJerk();
  virtual ~MinimumJerk();
 
  void calcCoefficient(WayPoint start,
                       WayPoint goal,
                       double move_time,
                       double control_time);
 
  Eigen::VectorXd getCoefficient();
};
 
class JointTrajectory
{
private:
  MinimumJerk trajectory_generator_;
 
  uint8_t joint_num_;
  Eigen::MatrixXd coefficient_;
  std::vector<WayPoint> joint_way_point_;
 
public:
  JointTrajectory();
  virtual ~JointTrajectory();
 
  void setJointNum(uint8_t joint_num);
  void init(double move_time,
            double control_time,
            std::vector<WayPoint> start,
            std::vector<WayPoint> goal
            );
 
  std::vector<WayPoint> getJointWayPoint(double tick);
 
  Eigen::MatrixXd getCoefficient();
};
 
#endif  // TRAJECTORY_GENERATOR_H_