#include <trajectory_pt.h>

Public Types
typedef TrajectoryID	ID
Public Member Functions
virtual TrajectoryPtPtr	clone () const
	Makes a clone of the underlying trajectory point and returns a polymorphic handle to it.
virtual TrajectoryPtPtr	cloneAndSetTiming (const TimingConstraint &tm) const
	Makes a clone of the underlying trajectory point and returns a polymorphic handle to it with new timing.
virtual TrajectoryPtPtr	copy () const =0
	Makes a copy of the underlying trajectory point and returns a polymorphic handle to it.
virtual TrajectoryPtPtr	copyAndSetTiming (const TimingConstraint &tm) const
	Makes a copy of the underlying trajectory point, mutates the timing, and returns a polymorphic handle to it.
const TimingConstraint &	getTiming () const
virtual bool	isValid (const RobotModel &model) const =0
	Check if state satisfies trajectory point requirements.
virtual bool	setDiscretization (const std::vector< double > &discretization)=0
	Set discretization. Note: derived classes interpret and use discretization differently.
void	setTiming (const TimingConstraint &timing)
	TrajectoryPt (const TimingConstraint &timing)
virtual	~TrajectoryPt ()
Getters for Cartesian pose(s)
References to "closest" position are decided by norm of joint-space distance.
virtual bool	getClosestCartPose (const std::vector< double > &seed_state, const RobotModel &kinematics, Eigen::Affine3d &pose) const =0
	Get single Cartesian pose associated with closest position of this point to seed_state. (Pose of TOOL point expressed in WOBJ frame).
virtual bool	getNominalCartPose (const std::vector< double > &seed_state, const RobotModel &kinematics, Eigen::Affine3d &pose) const =0
	Get single Cartesian pose associated with nominal of this point. (Pose of TOOL point expressed in WOBJ frame).
virtual void	getCartesianPoses (const RobotModel &kinematics, EigenSTL::vector_Affine3d &poses) const =0
	Get "all" Cartesian poses that satisfy this point.
Getters for joint pose(s)
References to "closest" position are decided by norm of joint-space distance.
virtual bool	getClosestJointPose (const std::vector< double > &seed_state, const RobotModel &model, std::vector< double > &joint_pose) const =0
	Get single Joint pose closest to seed_state.
virtual bool	getNominalJointPose (const std::vector< double > &seed_state, const RobotModel &model, std::vector< double > &joint_pose) const =0
	Get single Joint pose closest to seed_state.
virtual void	getJointPoses (const RobotModel &model, std::vector< std::vector< double > > &joint_poses) const =0
	Get "all" joint poses that satisfy this point.
Getters/Setters for ID
ID	getID () const
	Get ID associated with this point.
void	setID (const ID &id)
	Set ID for this point.
Protected Attributes
ID	id_
	ID associated with this pt. Generally refers back to a process path defined elsewhere.
TimingConstraint	timing_
	Information specifying acceptable timing from this point to the next.

Detailed Description

Definition at line 67 of file trajectory_pt.h.

Member Typedef Documentation

typedef TrajectoryID descartes_core::TrajectoryPt::ID

Definition at line 70 of file trajectory_pt.h.

Constructor & Destructor Documentation

descartes_core::TrajectoryPt::TrajectoryPt ( const TimingConstraint & timing ) [inline]

Definition at line 72 of file trajectory_pt.h.

virtual descartes_core::TrajectoryPt::~TrajectoryPt ( ) [inline, virtual]

Definition at line 76 of file trajectory_pt.h.

Member Function Documentation

virtual TrajectoryPtPtr descartes_core::TrajectoryPt::clone ( ) const [inline, virtual]

Makes a clone of the underlying trajectory point and returns a polymorphic handle to it.

Returns:: A clone, with the same data but a unique ID, of the underlying point type

Definition at line 195 of file trajectory_pt.h.

virtual TrajectoryPtPtr descartes_core::TrajectoryPt::cloneAndSetTiming ( const TimingConstraint & tm ) const [inline, virtual]

Makes a clone of the underlying trajectory point and returns a polymorphic handle to it with new timing.

Parameters:

tm	The new timing value for the copied point

Returns:: A clone, with the same data but a unique ID, of the underlying point type with new timing

Definition at line 207 of file trajectory_pt.h.

virtual TrajectoryPtPtr descartes_core::TrajectoryPt::copy ( ) const [pure virtual]

Makes a copy of the underlying trajectory point and returns a polymorphic handle to it.

Returns:: A copy, with the same ID, of the underlying point type

virtual TrajectoryPtPtr descartes_core::TrajectoryPt::copyAndSetTiming ( const TimingConstraint & tm ) const [inline, virtual]

Makes a copy of the underlying trajectory point, mutates the timing, and returns a polymorphic handle to it.

Parameters:

tm	The new timing value for the copied point

Returns:: A copy, with the same ID and new timing, of the underlying point type

Definition at line 184 of file trajectory_pt.h.

virtual void descartes_core::TrajectoryPt::getCartesianPoses	(	const RobotModel &	kinematics,
		EigenSTL::vector_Affine3d &	poses
	)		const `[pure virtual]`

Get "all" Cartesian poses that satisfy this point.

Parameters:

kinematics	Kinematics object used to calculate pose
poses	Note: Number of poses returned may be subject to discretization used.

virtual bool descartes_core::TrajectoryPt::getClosestCartPose	(	const std::vector< double > &	seed_state,
		const RobotModel &	kinematics,
		Eigen::Affine3d &	pose
	)		const `[pure virtual]`

Get single Cartesian pose associated with closest position of this point to seed_state. (Pose of TOOL point expressed in WOBJ frame).

Parameters:

seed_state	Joint_position seed.
kinematics	Kinematics object used to calculate pose
pose	If successful, affine pose of this state.

Returns:: True if calculation successful. pose untouched if return false.

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

Get single Joint pose closest to seed_state.

Parameters:

seed_state	Joint_position seed.
model	Robot mode object used to calculate pose
joint_pose	Solution (if function successful).

Returns:: True if calculation successful. joint_pose untouched if return is false.

ID descartes_core::TrajectoryPt::getID ( ) const [inline]

Get ID associated with this point.

Definition at line 158 of file trajectory_pt.h.

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

Get "all" joint poses that satisfy this point.

Parameters:

model	Robot model object used to calculate pose
joint_poses	vector of solutions (if function successful). Note: # of solutions may be subject to discretization used.

virtual bool descartes_core::TrajectoryPt::getNominalCartPose	(	const std::vector< double > &	seed_state,
		const RobotModel &	kinematics,
		Eigen::Affine3d &	pose
	)		const `[pure virtual]`

Get single Cartesian pose associated with nominal of this point. (Pose of TOOL point expressed in WOBJ frame).

Parameters:

seed_state	Joint_position seed.
kinematics	Kinematics object used to calculate pose
pose	If successful, affine pose of this state.

Returns:: True if calculation successful. pose untouched if return false.

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

Get single Joint pose closest to seed_state.

Parameters:

seed_state	Joint_position seed.
model	Robot model object used to calculate pose
seed_state	RobotState used kinematic calculations and joint position seed.

Returns:: True if calculation successful. joint_pose untouched if return is false.

const TimingConstraint& descartes_core::TrajectoryPt::getTiming ( ) const [inline]

Definition at line 214 of file trajectory_pt.h.

virtual bool descartes_core::TrajectoryPt::isValid ( const RobotModel & model ) const [pure virtual]

Check if state satisfies trajectory point requirements.

Parameters:

model Robot model object used to determine validity

virtual bool descartes_core::TrajectoryPt::setDiscretization ( const std::vector< double > & discretization ) [pure virtual]

Set discretization. Note: derived classes interpret and use discretization differently.

Parameters:

discretization Vector of discretization values.

Returns:: True if vector is valid length/values.

void descartes_core::TrajectoryPt::setID ( const ID & id ) [inline]

Set ID for this point.

Parameters:

id	Number to set id_ to.

Definition at line 166 of file trajectory_pt.h.

void descartes_core::TrajectoryPt::setTiming ( const TimingConstraint & timing ) [inline]

Definition at line 219 of file trajectory_pt.h.

Member Data Documentation

ID descartes_core::TrajectoryPt::id_ [protected]

ID associated with this pt. Generally refers back to a process path defined elsewhere.

Definition at line 225 of file trajectory_pt.h.

TimingConstraint descartes_core::TrajectoryPt::timing_ [protected]

Information specifying acceptable timing from this point to the next.

Definition at line 226 of file trajectory_pt.h.

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

trajectory_pt.h

Public Types

Public Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation