Cartesian Trajectory Point used to describe a Cartesian goal for a robot trajectory. More...

#include <cart_trajectory_pt.h>

Inheritance diagram for descartes_trajectory::CartTrajectoryPt:

Public Member Functions
	CartTrajectoryPt (const descartes_core::TimingConstraint &timing=descartes_core::TimingConstraint())
	Default cartesian trajectory point constructor. All frames initialized to Identity.
	CartTrajectoryPt (const descartes_core::Frame &wobj_base, const TolerancedFrame &wobj_pt, const descartes_core::Frame &tool_base, const TolerancedFrame &tool_pt, double pos_increment, double orient_increment, const descartes_core::TimingConstraint &timing=descartes_core::TimingConstraint())
	Full constructor of cartesian trajectory point.
	CartTrajectoryPt (const TolerancedFrame &wobj_pt, double pos_increment, double orient_increment, const descartes_core::TimingConstraint &timing=descartes_core::TimingConstraint())
	Partial constructor of cartesian trajectory point (all frames not specified by parameters are initialized to Identity). This constructor should be utilized to specify the robot tip (toleranced) point relative to the robot base.
	CartTrajectoryPt (const descartes_core::Frame &wobj_pt, const descartes_core::TimingConstraint &timing=descartes_core::TimingConstraint())
	Partial constructor of cartesian trajectory point (all frames not specified by parameters are initialized to Identity). This constructor should be utilized to specify the robot tip (NOT toleranced) point relative to the robot base.
virtual descartes_core::TrajectoryPtPtr	copy () const
virtual bool	isValid (const descartes_core::RobotModel &model) const
virtual bool	setDiscretization (const std::vector< double > &discretization)
	Set discretization. Cartesian points can have position and angular discretization.
void	setTool (const descartes_core::Frame &base, const TolerancedFrame &pt)
void	setWobj (const descartes_core::Frame &base, const TolerancedFrame &pt)
virtual	~CartTrajectoryPt ()
Getters for Cartesian pose(s)
virtual bool	getClosestCartPose (const std::vector< double > &seed_state, const descartes_core::RobotModel &model, Eigen::Affine3d &pose) const
virtual bool	getNominalCartPose (const std::vector< double > &seed_state, const descartes_core::RobotModel &model, Eigen::Affine3d &pose) const
virtual void	getCartesianPoses (const descartes_core::RobotModel &model, EigenSTL::vector_Affine3d &poses) const
Getters for joint pose(s)
virtual bool	getClosestJointPose (const std::vector< double > &seed_state, const descartes_core::RobotModel &model, std::vector< double > &joint_pose) const
virtual bool	getNominalJointPose (const std::vector< double > &seed_state, const descartes_core::RobotModel &model, std::vector< double > &joint_pose) const
virtual void	getJointPoses (const descartes_core::RobotModel &model, std::vector< std::vector< double > > &joint_poses) const
Public Attributes
	EIGEN_MAKE_ALIGNED_OPERATOR_NEW
Protected Member Functions
bool	computeCartesianPoses (EigenSTL::vector_Affine3d &poses) const
Protected Attributes
double	orient_increment_
	Sampling discretization in angular orientation.
double	pos_increment_
	Sampling discretization in cartesian directions.
descartes_core::Frame	tool_base_
	Fixed transform from wrist/tool_plate to tool base.
TolerancedFrame	tool_pt_
	Underconstrained transform from tool_base to effective pt on tool.
descartes_core::Frame	wobj_base_
	Fixed transform from WCS to base of object.
TolerancedFrame	wobj_pt_
	Underconstrained transform from object base to goal point on object.

Detailed Description

Cartesian Trajectory Point used to describe a Cartesian goal for a robot trajectory.

Background: For a general robotic process, TOOL pose can be variable (e.g. robot holding workpiece) or fixed (e.g. robot holding MIG torch). Similarly, the WORKOBJECT pose can be variable (e.g. robot riveting a workpiece) or fixed (e.g. stationary grinder that robot moves a tool against).

For a CartTrajectoryPt, TOOL pose is described by fixed transform from wrist to TOOL_BASE, and variable transform from TOOL_BASE to TOOL_PT. This allows the tolerances on tool pose to be easily expressed in a local tool frame. Similarly, WOBJ is located relative to world coordinate system, and is described by fixed transform from world to WOBJ_BASE, and variable transform from WOBJ_BASE to specific point on part (WOBJ_PT). Variable transforms of both TOOL and WOBJ have tolerances on both position and orientation. Optionally, additional constraints can be placed on position and orientation that can limit, but not expand, existing tolerances.

The get*Pose methods of CartTrajectoryPt try to set joint positions of a robot such that tool_pt_ is coincident with wobj_pt_.

Definition at line 203 of file cart_trajectory_pt.h.

Constructor & Destructor Documentation

descartes_trajectory::CartTrajectoryPt::CartTrajectoryPt ( const descartes_core::TimingConstraint & timing = descartes_core::TimingConstraint() )

Default cartesian trajectory point constructor. All frames initialized to Identity.

Definition at line 155 of file src/cart_trajectory_pt.cpp.

descartes_trajectory::CartTrajectoryPt::CartTrajectoryPt	(	const descartes_core::Frame &	wobj_base,
		const TolerancedFrame &	wobj_pt,
		const descartes_core::Frame &	tool_base,
		const TolerancedFrame &	tool_pt,
		double	pos_increment,
		double	orient_increment,
		const descartes_core::TimingConstraint &	timing = `descartes_core::TimingConstraint()`
	)

Full constructor of cartesian trajectory point.

Parameters:

wobj_base	Fixed transform from WCS to base of object
wobj_pt	Underconstrained transform from object base to goal point on object.
tool_base	Fixed transform from wrist/tool_plate to tool base
tool_pt	Underconstrained transform from tool_base to effective pt on tool.
pos_increment	Position increment used for sampling
pos_increment	Orientation increment used for sampling

Definition at line 165 of file src/cart_trajectory_pt.cpp.

descartes_trajectory::CartTrajectoryPt::CartTrajectoryPt	(	const TolerancedFrame &	wobj_pt,
		double	pos_increment,
		double	orient_increment,
		const descartes_core::TimingConstraint &	timing = `descartes_core::TimingConstraint()`
	)

Partial constructor of cartesian trajectory point (all frames not specified by parameters are initialized to Identity). This constructor should be utilized to specify the robot tip (toleranced) point relative to the robot base.

Parameters:

wobj_pt	Underconstrained transform from object base to goal point on object.
pos_increment	Position increment used for sampling
pos_increment	Orientation increment used for sampling

Definition at line 178 of file src/cart_trajectory_pt.cpp.

descartes_trajectory::CartTrajectoryPt::CartTrajectoryPt	(	const descartes_core::Frame &	wobj_pt,
		const descartes_core::TimingConstraint &	timing = `descartes_core::TimingConstraint()`
	)

Partial constructor of cartesian trajectory point (all frames not specified by parameters are initialized to Identity). This constructor should be utilized to specify the robot tip (NOT toleranced) point relative to the robot base.

Parameters:

wobj_pt Underconstrained transform from object base to goal point on object.

Definition at line 190 of file src/cart_trajectory_pt.cpp.

virtual descartes_trajectory::CartTrajectoryPt::~CartTrajectoryPt ( ) [inline, virtual]

Definition at line 249 of file cart_trajectory_pt.h.

Member Function Documentation

bool descartes_trajectory::CartTrajectoryPt::computeCartesianPoses ( EigenSTL::vector_Affine3d & poses ) const [protected]

Definition at line 214 of file src/cart_trajectory_pt.cpp.

virtual descartes_core::TrajectoryPtPtr descartes_trajectory::CartTrajectoryPt::copy ( ) const [inline, virtual]

Implements descartes_core::TrajectoryPt.

Reimplemented in descartes_trajectory::AxialSymmetricPt.

Definition at line 294 of file cart_trajectory_pt.h.

void descartes_trajectory::CartTrajectoryPt::getCartesianPoses	(	const descartes_core::RobotModel &	model,
		EigenSTL::vector_Affine3d &	poses
	)		const `[virtual]`

Implements descartes_core::TrajectoryPt.

Definition at line 237 of file src/cart_trajectory_pt.cpp.

bool descartes_trajectory::CartTrajectoryPt::getClosestCartPose	(	const std::vector< double > &	seed_state,
		const descartes_core::RobotModel &	model,
		Eigen::Affine3d &	pose
	)		const `[virtual]`

Implements descartes_core::TrajectoryPt.

Definition at line 200 of file src/cart_trajectory_pt.cpp.

bool descartes_trajectory::CartTrajectoryPt::getClosestJointPose	(	const std::vector< double > &	seed_state,
		const descartes_core::RobotModel &	model,
		std::vector< double > &	joint_pose
	)		const `[virtual]`

Implements descartes_core::TrajectoryPt.

Definition at line 270 of file src/cart_trajectory_pt.cpp.

void descartes_trajectory::CartTrajectoryPt::getJointPoses	(	const descartes_core::RobotModel &	model,
		std::vector< std::vector< double > > &	joint_poses
	)		const `[virtual]`

Implements descartes_core::TrajectoryPt.

Definition at line 387 of file src/cart_trajectory_pt.cpp.

bool descartes_trajectory::CartTrajectoryPt::getNominalCartPose	(	const std::vector< double > &	seed_state,
		const descartes_core::RobotModel &	model,
		Eigen::Affine3d &	pose
	)		const `[virtual]`

Implements descartes_core::TrajectoryPt.

Definition at line 206 of file src/cart_trajectory_pt.cpp.

bool descartes_trajectory::CartTrajectoryPt::getNominalJointPose	(	const std::vector< double > &	seed_state,
		const descartes_core::RobotModel &	model,
		std::vector< double > &	joint_pose
	)		const `[virtual]`

Implements descartes_core::TrajectoryPt.

Definition at line 378 of file src/cart_trajectory_pt.cpp.

bool descartes_trajectory::CartTrajectoryPt::isValid ( const descartes_core::RobotModel & model ) const [virtual]

Implements descartes_core::TrajectoryPt.

Definition at line 421 of file src/cart_trajectory_pt.cpp.

bool descartes_trajectory::CartTrajectoryPt::setDiscretization ( const std::vector< double > & discretization ) [virtual]

Set discretization. Cartesian points can have position and angular discretization.

Parameters:

discretization Vector of discretization values. Must be length 2 or 6 (position/orientation or separate xyzrpy).

Returns:: True if vector is valid length/values. TODO what are valid values?

Implements descartes_core::TrajectoryPt.

Definition at line 429 of file src/cart_trajectory_pt.cpp.

void descartes_trajectory::CartTrajectoryPt::setTool	(	const descartes_core::Frame &	base,
		const TolerancedFrame &	pt
	)		`[inline]`

Definition at line 300 of file cart_trajectory_pt.h.

void descartes_trajectory::CartTrajectoryPt::setWobj	(	const descartes_core::Frame &	base,
		const TolerancedFrame &	pt
	)		`[inline]`

Definition at line 307 of file cart_trajectory_pt.h.

Member Data Documentation

descartes_trajectory::CartTrajectoryPt::EIGEN_MAKE_ALIGNED_OPERATOR_NEW

Definition at line 206 of file cart_trajectory_pt.h.

double descartes_trajectory::CartTrajectoryPt::orient_increment_ [protected]

Sampling discretization in angular orientation.

Definition at line 325 of file cart_trajectory_pt.h.

double descartes_trajectory::CartTrajectoryPt::pos_increment_ [protected]

Sampling discretization in cartesian directions.

Definition at line 324 of file cart_trajectory_pt.h.

descartes_core::Frame descartes_trajectory::CartTrajectoryPt::tool_base_ [protected]

Fixed transform from wrist/tool_plate to tool base.

Definition at line 319 of file cart_trajectory_pt.h.

TolerancedFrame descartes_trajectory::CartTrajectoryPt::tool_pt_ [protected]

Underconstrained transform from tool_base to effective pt on tool.

Definition at line 320 of file cart_trajectory_pt.h.

descartes_core::Frame descartes_trajectory::CartTrajectoryPt::wobj_base_ [protected]

Fixed transform from WCS to base of object.

Definition at line 321 of file cart_trajectory_pt.h.

TolerancedFrame descartes_trajectory::CartTrajectoryPt::wobj_pt_ [protected]

Underconstrained transform from object base to goal point on object.

Definition at line 322 of file cart_trajectory_pt.h.

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

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation