Class representing a multi-dimensional quintic spline segment with a start and end time. More...

#include <joint_trajectory_segment.h>

Inheritance diagram for joint_trajectory_controller::JointTrajectorySegment< Segment >:

Classes
struct	State

Public Types
typedef realtime_tools::RealtimeServerGoalHandle< control_msgs::FollowJointTrajectoryAction >	RealtimeGoalHandle

typedef boost::shared_ptr< RealtimeGoalHandle >	RealtimeGoalHandlePtr

typedef Segment::Scalar	Scalar

typedef Segment::Time	Time

Public Member Functions
RealtimeGoalHandlePtr	getGoalHandle () const

const SegmentTolerancesPerJoint< Scalar > &	getTolerances () const

	JointTrajectorySegment (const ros::Time &traj_start_time, const trajectory_msgs::JointTrajectoryPoint &start_point, const trajectory_msgs::JointTrajectoryPoint &end_point, const std::vector< Scalar > &position_offset=std::vector< Scalar >())
	Construct a segment from start and end points (boundary conditions) specified in ROS message format. More...

	JointTrajectorySegment (const Time &start_time, const State &start_state, const Time &end_time, const State &end_state)
	Construct segment from start and end states (boundary conditions). More...

void	setGoalHandle (RealtimeGoalHandlePtr rt_goal_handle)
	Set the (realtime) goal handle associated to this segment. More...

void	setTolerances (const SegmentTolerancesPerJoint< Scalar > &tolerances)
	Set the tolerances this segment is associated to. More...

Private Attributes
RealtimeGoalHandlePtr	rt_goal_handle_

SegmentTolerancesPerJoint< Scalar >	tolerances_

Detailed Description

template<class Segment>
class joint_trajectory_controller::JointTrajectorySegment< Segment >

Class representing a multi-dimensional quintic spline segment with a start and end time.

It additionally allows to construct the segment and its state type from ROS message data.

Template Parameters

Segment

Segment type. The state type (Segment::State) must define a Scalar type (Segment::State::Scalar), which can be anything convertible to a double; and have the following public members:

std::vector<Scalar> position;
std::vector<Scalar> velocity;
std::vector<Scalar> acceleration;

Definition at line 70 of file joint_trajectory_segment.h.

Member Typedef Documentation

◆ RealtimeGoalHandle

template<class Segment >

typedef realtime_tools::RealtimeServerGoalHandle<control_msgs::FollowJointTrajectoryAction> joint_trajectory_controller::JointTrajectorySegment< Segment >::RealtimeGoalHandle

Definition at line 76 of file joint_trajectory_segment.h.

◆ RealtimeGoalHandlePtr

template<class Segment >

typedef boost::shared_ptr<RealtimeGoalHandle> joint_trajectory_controller::JointTrajectorySegment< Segment >::RealtimeGoalHandlePtr

Definition at line 77 of file joint_trajectory_segment.h.

◆ Scalar

template<class Segment >

typedef Segment::Scalar joint_trajectory_controller::JointTrajectorySegment< Segment >::Scalar

Definition at line 73 of file joint_trajectory_segment.h.

◆ Time

template<class Segment >

typedef Segment::Time joint_trajectory_controller::JointTrajectorySegment< Segment >::Time

Definition at line 74 of file joint_trajectory_segment.h.

Constructor & Destructor Documentation

◆ JointTrajectorySegment() [1/2]

template<class Segment >

joint_trajectory_controller::JointTrajectorySegment< Segment >::JointTrajectorySegment	(	const Time &	start_time,
		const State &	start_state,
		const Time &	end_time,
		const State &	end_state
	)

inline

Construct segment from start and end states (boundary conditions).

Parameters

start_time	Time at which the segment state equals `start_state`.
start_state	State at `start_time`.
end_time	Time at which the segment state equals `end_state`.
end_state	State at time `end_time`.

Definition at line 144 of file joint_trajectory_segment.h.

◆ JointTrajectorySegment() [2/2]

template<class Segment >

joint_trajectory_controller::JointTrajectorySegment< Segment >::JointTrajectorySegment	(	const ros::Time &	traj_start_time,
		const trajectory_msgs::JointTrajectoryPoint &	start_point,
		const trajectory_msgs::JointTrajectoryPoint &	end_point,
		const std::vector< Scalar > &	position_offset = `std::vector<Scalar>()`
	)

inline

Construct a segment from start and end points (boundary conditions) specified in ROS message format.

Parameters

traj_start_time	Time at which the trajectory containing the segment starts. Note that this is not the segment start time.
start_point	Start state in ROS message format.
end_point	End state in ROS message format.
position_offset	See JointTrajectorySegment::State.