MinJerkCartesianTrajectory Class Reference

#include <MinJerkTrajectory.h>

Inheritance diagram for MinJerkCartesianTrajectory:

List of all members.

Public Member Functions
virtual void	getPose (double time, KDL::FrameAcc &pose)
	MinJerkCartesianTrajectory (const CartesianVelocityLimiter &cvl, const KDL::FrameAcc &startPose, const KDL::FrameAcc &goalPose, double duration_in)
virtual	~MinJerkCartesianTrajectory ()
Private Attributes
tf::Quaternion	goalQ
KDL::Vector	moveVec
tf::Quaternion	startQ
KDL::Vector	startVec
std::vector< MinJerkUtility >	utils

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Detailed Description

Definition at line 55 of file MinJerkTrajectory.h.

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Constructor & Destructor Documentation

MinJerkCartesianTrajectory::MinJerkCartesianTrajectory	(	const CartesianVelocityLimiter &	cvl,
		const KDL::FrameAcc &	startPose,
		const KDL::FrameAcc &	goalPose,
		double	duration_in
	)

this is not right, but I'm ignoring v and vdot so it doesn't really matter

this is not right, but I'm ignoring v and vdot so it doesn't really matter

Definition at line 159 of file MinJerkTrajectory.cpp.

MinJerkCartesianTrajectory::~MinJerkCartesianTrajectory

(

)

[virtual]

Definition at line 190 of file MinJerkTrajectory.cpp.

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Member Function Documentation

void MinJerkCartesianTrajectory::getPose	(	double	time,
		KDL::FrameAcc &	pose
	)		[virtual]

Definition at line 195 of file MinJerkTrajectory.cpp.

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Member Data Documentation

tf::Quaternion MinJerkCartesianTrajectory::goalQ [private]

Definition at line 69 of file MinJerkTrajectory.h.

KDL::Vector MinJerkCartesianTrajectory::moveVec [private]

Definition at line 66 of file MinJerkTrajectory.h.

tf::Quaternion MinJerkCartesianTrajectory::startQ [private]

Definition at line 68 of file MinJerkTrajectory.h.

KDL::Vector MinJerkCartesianTrajectory::startVec [private]

Definition at line 67 of file MinJerkTrajectory.h.

std::vector<MinJerkUtility> MinJerkCartesianTrajectory::utils [private]

Definition at line 65 of file MinJerkTrajectory.h.

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

• MinJerkTrajectory.h
• MinJerkTrajectory.cpp