Public Member Functions
void	fromTKTrajMsg (const telekyb_msgs::TKTrajectory &tkTrajMsg)
GlobalPosControlType	getGlobalPositionControlType () const
void	setAcceleration (const Acceleration3D &acceleration_, const Eigen::Vector3d &jerk_=Eigen::Vector3d::Zero(), const Eigen::Vector3d &snap_=Eigen::Vector3d::Zero())
void	setPosition (const Position3D &position_, const Velocity3D &velocity_=Velocity3D::Zero(), const Acceleration3D &acceleration_=Acceleration3D::Zero(), const Eigen::Vector3d &jerk_=Eigen::Vector3d::Zero(), const Eigen::Vector3d &snap_=Eigen::Vector3d::Zero())
void	setVelocity (const Velocity3D &velocity_, const Acceleration3D &acceleration_=Acceleration3D::Zero(), const Eigen::Vector3d &jerk_=Eigen::Vector3d::Zero(), const Eigen::Vector3d &snap_=Eigen::Vector3d::Zero())
void	setYawAngle (double yawAngle_, double yawRate_=0.0, double yawAcceleration_=0.0)
void	setYawRate (double yawRate_, double yawAcceleration_=0.0)
	TKTrajectory ()
	TKTrajectory (const telekyb_msgs::TKTrajectory &tkTrajMsg)
void	toTKTrajMsg (telekyb_msgs::TKTrajectory &tkTrajMsg) const
virtual	~TKTrajectory ()
Public Attributes
Acceleration3D	acceleration
Eigen::Vector3d	jerk
Position3D	position
Eigen::Vector3d	snap
Velocity3D	velocity
PosControlType	xAxisCtrl
double	yawAcceleration
double	yawAngle
YawControlType	yawCtrl
double	yawRate
PosControlType	yAxisCtrl
PosControlType	zAxisCtrl

Detailed Description

Definition at line 20 of file TKTrajectory.hpp.

Constructor & Destructor Documentation

TELEKYB_NAMESPACE::TKTrajectory::TKTrajectory ( )

Definition at line 12 of file TKTrajectory.cpp.

TELEKYB_NAMESPACE::TKTrajectory::TKTrajectory ( const telekyb_msgs::TKTrajectory & tkTrajMsg )

Definition at line 30 of file TKTrajectory.cpp.

TELEKYB_NAMESPACE::TKTrajectory::~TKTrajectory ( ) [virtual]

Definition at line 35 of file TKTrajectory.cpp.

void TELEKYB_NAMESPACE::TKTrajectory::fromTKTrajMsg ( const telekyb_msgs::TKTrajectory & tkTrajMsg )

NOTE! No check on ENUMS!

Definition at line 76 of file TKTrajectory.cpp.

GlobalPosControlType TELEKYB_NAMESPACE::TKTrajectory::getGlobalPositionControlType ( ) const [inline]

Definition at line 176 of file TKTrajectory.hpp.

void TELEKYB_NAMESPACE::TKTrajectory::setAcceleration	(	const Acceleration3D &	acceleration_,
		const Eigen::Vector3d &	jerk_ = `Eigen::Vector3d::Zero()`,
		const Eigen::Vector3d &	snap_ = `Eigen::Vector3d::Zero()`
	)		`[inline]`

Definition at line 123 of file TKTrajectory.hpp.

void TELEKYB_NAMESPACE::TKTrajectory::setPosition	(	const Position3D &	position_,
		const Velocity3D &	velocity_ = `Velocity3D::Zero()`,
		const Acceleration3D &	acceleration_ = `Acceleration3D::Zero()`,
		const Eigen::Vector3d &	jerk_ = `Eigen::Vector3d::Zero()`,
		const Eigen::Vector3d &	snap_ = `Eigen::Vector3d::Zero()`
	)		`[inline]`

Definition at line 84 of file TKTrajectory.hpp.

void TELEKYB_NAMESPACE::TKTrajectory::setVelocity	(	const Velocity3D &	velocity_,
		const Acceleration3D &	acceleration_ = `Acceleration3D::Zero()`,
		const Eigen::Vector3d &	jerk_ = `Eigen::Vector3d::Zero()`,
		const Eigen::Vector3d &	snap_ = `Eigen::Vector3d::Zero()`
	)		`[inline]`