#include <trajectory.h>

Classes
struct	TCoeff
struct	TPoint
Public Member Functions
void	addPoint (const TPoint)
	Add a point to the trajectory.
void	clear ()
	clear the trajectory
int	findTrajectorySegment (double time)
	finds the trajectory segment corresponding to a particular time
int	getDuration (std::vector< double > &duration)
int	getDuration (int index, double &duration)
int	getNumberPoints ()
	Get the number of points in the trajectory.
int	getTimeStamps (std::vector< double > &timestamps)
double	getTotalTime ()
	Get the total time for the trajectory.
void	getTrajectory (std::vector< trajectory::Trajectory::TPoint > &traj, double dT)
int	minimizeSegmentTimes ()
	Minimize segment times in the trajectory Timings for the trajectory segments are automatically calculated using max rate and/or max accn information based on the current value of interp_method_;.
int	sample (TPoint &tp, double time)
	Sample the trajectory at a certain point in time.
void	setInterpolationMethod (std::string interp_method)
	Set the interpolation method.
void	setJointWraps (int index)
int	setMaxAcc (std::vector< double > max_acc)
int	setMaxRates (std::vector< double > max_rate)
	set the max rates (velocities)
int	setTrajectory (const std::vector< TPoint > &tp)
	Set the trajectory using a vector of trajectory points.
int	setTrajectory (const std::vector< double > &p, const std::vector< double > &time, int numPoints)
	Set the trajectory using a vector of values and timestamps.
int	setTrajectory (const std::vector< double > &p, int numPoints)
	Set the trajectory using a vector of values, timestamps are not specified and so autocalc_timing_ is set to true within this function. Max rates and max accelerations should be set before this function is called.
int	setTrajectory (const std::vector< double > &p, const std::vector< double > &pdot, const std::vector< double > &time, int numPoints)
	Trajectory (int dimension)
	Constructor for instantiation of the class by specifying the dimension.
int	write (std::string filename, double dT)
virtual	~Trajectory ()
	Destructor.
Public Attributes
bool	autocalc_timing_
Protected Attributes
std::string	interp_method_
Private Member Functions
double	blendTime (double aa, double bb, double cc)
double	calculateMinimumTimeCubic (const TPoint &start, const TPoint &end)
double	calculateMinimumTimeLinear (const TPoint &start, const TPoint &end)
	calculate minimum time for a trajectory segment using a linear interpolation
double	calculateMinimumTimeLSPB (const TPoint &start, const TPoint &end)
	calculate minimum time for a trajectory segment using LSPB.
double	calculateMinTimeCubic (double q0, double q1, double v0, double v1, double vmax, int index)
double	calculateMinTimeLSPB (double q0, double q1, double vmax, double amax, int index)
void	init (int num_points, int dimension)
double	jointDiff (double from, double to, int index)
const TPoint &	lastPoint ()
int	minimizeSegmentTimesWithBlendedLinearInterpolation ()
	calculate a minimum time trajectory using blended linear interpolation Timings for the trajectory are automatically calculated using max rate information.
int	minimizeSegmentTimesWithCubicInterpolation ()
	calculate a minimum time trajectory using cubic interpolation Timings for the trajectory are automatically calculated using max rate information.
int	minimizeSegmentTimesWithLinearInterpolation ()
	calculate a minimum time trajectory using linear interpolation Timings for the trajectory are automatically calculated using max rate information.
int	parameterize ()
	calculate the coefficients for interpolation between trajectory points If autocalc_timing_ is true, timings for the trajectories are automatically calculated using max rate and/or max accn information Thus, the time duration for any trajectory segment is the maximum of two times: the time duration specified by the user and the time duration dictated by the constraints.
int	parameterizeBlendedLinear ()
	calculate the coefficients for interpolation between trajectory points using blended linear interpolation. If autocalc_timing_ is true, timings for the trajectories are automatically calculated using max rate and max acceleration information. Thus, the time duration for any segment is the maximum of two times: the time duration specified by the user and the time duration dictated by the constraints.
int	parameterizeCubic ()
	calculate the coefficients for interpolation between trajectory points using cubic interpolation. If autocalc_timing_ is true, timings for the trajectories are automatically calculated using max rate information. Thus, the time duration for any segment is the maximum of two times: the time duration specified by the user and the time duration dictated by the constraints.
int	parameterizeLinear ()
	calculate the coefficients for interpolation between trajectory points using linear interpolation If autocalc_timing_ is true, timings for the trajectories are automatically calculated using max rate information. Thus, the time duration for any segment is the maximum of two times: the time duration specified by the user and the time duration dictated by the constraints.
void	sampleBlendedLinear (TPoint &tp, double time, const TCoeff &tc, double segment_start_time)
	Sample the trajectory based on a cubic interpolation.
void	sampleCubic (TPoint &tp, double time, const TCoeff &tc, double segment_start_time)
	Sample the trajectory based on a cubic interpolation.
void	sampleLinear (TPoint &tp, double time, const TCoeff &tc, double segment_start_time)
	Sample the trajectory based on a linear interpolation.
Private Attributes
int	dimension_
std::vector< bool >	joint_wraps_
std::vector< double >	max_acc_
bool	max_acc_set_
std::vector< double >	max_limit_
std::vector< double >	max_rate_
bool	max_rate_set_
std::vector< double >	min_limit_
int	num_points_
std::vector< TCoeff >	tc_
std::vector< TPoint >	tp_

Detailed Description

Definition at line 56 of file trajectory.h.

Constructor & Destructor Documentation

Trajectory::Trajectory ( int dimension )

Constructor for instantiation of the class by specifying the dimension.

Definition at line 44 of file trajectory.cpp.

virtual trajectory::Trajectory::~Trajectory ( ) [inline, virtual]

Destructor.

Definition at line 125 of file trajectory.h.

Member Function Documentation

void Trajectory::addPoint ( const TPoint tp )

Add a point to the trajectory.

Definition at line 250 of file trajectory.cpp.

double Trajectory::blendTime	(	double	aa,
		double	bb,
		double	cc
	)		`[private]`

Definition at line 555 of file trajectory.cpp.

double Trajectory::calculateMinimumTimeCubic	(	const TPoint &	start,
		const TPoint &	end
	)		`[private]`

Definition at line 711 of file trajectory.cpp.

double Trajectory::calculateMinimumTimeLinear	(	const TPoint &	start,
		const TPoint &	end
	)		`[private]`

calculate minimum time for a trajectory segment using a linear interpolation

Parameters:

start	TPoint
end	TPoint

Definition at line 689 of file trajectory.cpp.

double Trajectory::calculateMinimumTimeLSPB	(	const TPoint &	start,
		const TPoint &	end
	)		`[private]`

calculate minimum time for a trajectory segment using LSPB.

Parameters:

start	TPoint
end	TPoint

Definition at line 772 of file trajectory.cpp.

double Trajectory::calculateMinTimeCubic	(	double	q0,
		double	q1,
		double	v0,
		double	v1,
		double	vmax,
		int	index
	)		`[private]`

Definition at line 732 of file trajectory.cpp.

double Trajectory::calculateMinTimeLSPB	(	double	q0,
		double	q1,
		double	vmax,
		double	amax,
		int	index
	)		`[private]`

Definition at line 792 of file trajectory.cpp.

void Trajectory::clear ( )

clear the trajectory

Definition at line 77 of file trajectory.cpp.

int Trajectory::findTrajectorySegment ( double time )

finds the trajectory segment corresponding to a particular time

Parameters:

input time (in seconds)

Returns:: segment index

Definition at line 261 of file trajectory.cpp.

int Trajectory::getDuration ( std::vector< double > & duration )

Definition at line 649 of file trajectory.cpp.

int Trajectory::getDuration	(	int	index,
		double &	duration
	)

Definition at line 662 of file trajectory.cpp.

int Trajectory::getNumberPoints ( )

Get the number of points in the trajectory.

if true, the max rates are used to compute trajectory timings, if false trajectory timings must be input by the user.

Returns:: number of points

Definition at line 644 of file trajectory.cpp.

int Trajectory::getTimeStamps ( std::vector< double > & timestamps )

Definition at line 676 of file trajectory.cpp.

double Trajectory::getTotalTime ( )

Get the total time for the trajectory.

Returns:: the total time for the trajectory.

Definition at line 272 of file trajectory.cpp.

void Trajectory::getTrajectory	(	std::vector< trajectory::Trajectory::TPoint > &	traj,
		double	dT
	)

Definition at line 1073 of file trajectory.cpp.

void Trajectory::init	(	int	num_points,
		int	dimension
	)		`[private]`

Definition at line 51 of file trajectory.cpp.

double Trajectory::jointDiff	(	double	from,
		double	to,
		int	index
	)		`[private]`

Definition at line 173 of file trajectory.cpp.

const Trajectory::TPoint & Trajectory::lastPoint ( ) [private]

Definition at line 282 of file trajectory.cpp.

int Trajectory::minimizeSegmentTimes ( )

Minimize segment times in the trajectory Timings for the trajectory segments are automatically calculated using max rate and/or max accn information based on the current value of interp_method_;.

Definition at line 381 of file trajectory.cpp.

int Trajectory::minimizeSegmentTimesWithBlendedLinearInterpolation ( ) [private]

calculate a minimum time trajectory using blended linear interpolation Timings for the trajectory are automatically calculated using max rate information.

Definition at line 497 of file trajectory.cpp.

int Trajectory::minimizeSegmentTimesWithCubicInterpolation ( ) [private]

calculate a minimum time trajectory using cubic interpolation Timings for the trajectory are automatically calculated using max rate information.

Definition at line 444 of file trajectory.cpp.

int Trajectory::minimizeSegmentTimesWithLinearInterpolation ( ) [private]

calculate a minimum time trajectory using linear interpolation Timings for the trajectory are automatically calculated using max rate information.

Definition at line 396 of file trajectory.cpp.

int Trajectory::parameterize ( ) [private]

calculate the coefficients for interpolation between trajectory points If autocalc_timing_ is true, timings for the trajectories are automatically calculated using max rate and/or max accn information Thus, the time duration for any trajectory segment is the maximum of two times: the time duration specified by the user and the time duration dictated by the constraints.

boolean specifying if the joint wraps

Definition at line 816 of file trajectory.cpp.

int Trajectory::parameterizeBlendedLinear ( ) [private]

calculate the coefficients for interpolation between trajectory points using blended linear interpolation. If autocalc_timing_ is true, timings for the trajectories are automatically calculated using max rate and max acceleration information. Thus, the time duration for any segment is the maximum of two times: the time duration specified by the user and the time duration dictated by the constraints.

Definition at line 972 of file trajectory.cpp.

int Trajectory::parameterizeCubic ( ) [private]

calculate the coefficients for interpolation between trajectory points using cubic interpolation. If autocalc_timing_ is true, timings for the trajectories are automatically calculated using max rate information. Thus, the time duration for any segment is the maximum of two times: the time duration specified by the user and the time duration dictated by the constraints.

Definition at line 903 of file trajectory.cpp.

int Trajectory::parameterizeLinear ( ) [private]

calculate the coefficients for interpolation between trajectory points using linear interpolation If autocalc_timing_ is true, timings for the trajectories are automatically calculated using max rate information. Thus, the time duration for any segment is the maximum of two times: the time duration specified by the user and the time duration dictated by the constraints.

Definition at line 833 of file trajectory.cpp.

int Trajectory::sample	(	TPoint &	tp,
		double	time
	)

Sample the trajectory at a certain point in time.

Parameters:

reference	to a pre-allocated struct of type TPoint
time	at which trajectory is to be sampled

Returns:: -1 if error, 1 if successful

Definition at line 287 of file trajectory.cpp.

void Trajectory::sampleBlendedLinear	(	TPoint &	tp,
		double	time,
		const TCoeff &	tc,
		double	segment_start_time
	)		`[private]`

Sample the trajectory based on a cubic interpolation.

Parameters:

reference	to pre-allocated output trajectory point
time	at which trajectory is being sample
polynomial	coefficients for this segment of the trajectory
segment	start time

Definition at line 591 of file trajectory.cpp.

void Trajectory::sampleCubic	(	TPoint &	tp,
		double	time,
		const TCoeff &	tc,
		double	segment_start_time
	)		`[private]`

Sample the trajectory based on a cubic interpolation.

Parameters:

reference	to pre-allocated output trajectory point
time	at which trajectory is being sample
polynomial	coefficients for this segment of the trajectory
segment	start time

Definition at line 628 of file trajectory.cpp.

void Trajectory::sampleLinear	(	TPoint &	tp,
		double	time,
		const TCoeff &	tc,
		double	segment_start_time
	)		`[private]`

Sample the trajectory based on a linear interpolation.

Parameters:

reference	to pre-allocated output trajectory point
time	at which trajectory is being sample
polynomial	coefficients for this segment of the trajectory
segment	start time

Definition at line 571 of file trajectory.cpp.

void Trajectory::setInterpolationMethod ( std::string interp_method )

Set the interpolation method.

Parameters:

std::string interpolation method

Definition at line 810 of file trajectory.cpp.

void Trajectory::setJointWraps ( int index )

Definition at line 163 of file trajectory.cpp.

int Trajectory::setMaxAcc ( std::vector< double > max_acc )

Definition at line 365 of file trajectory.cpp.

int Trajectory::setMaxRates ( std::vector< double > max_rate )

set the max rates (velocities)

Parameters:

std::vector of size dimension_ containing the max rates for the degrees of freedom in the trajectory

Definition at line 349 of file trajectory.cpp.

int Trajectory::setTrajectory ( const std::vector< TPoint > & tp )

Set the trajectory using a vector of trajectory points.

Parameters:

std::vector of trajectory points

Definition at line 87 of file trajectory.cpp.

int Trajectory::setTrajectory	(	const std::vector< double > &	p,
		const std::vector< double > &	time,
		int	numPoints
	)

Set the trajectory using a vector of values and timestamps.

Parameters:

std::vector	of size dimension x number of points - specifies a list of waypoints to initialize the trajectory with
std::vector	of time stamps
number	of points in the trajectory

Definition at line 187 of file trajectory.cpp.

int Trajectory::setTrajectory	(	const std::vector< double > &	p,
		int	numPoints
	)

Set the trajectory using a vector of values, timestamps are not specified and so autocalc_timing_ is set to true within this function. Max rates and max accelerations should be set before this function is called.

Parameters: