Namespaces | Classes | Functions
trajectory_interface Namespace Reference

Namespaces

namespace  internal

Classes

struct  PosVelAccState
 Multi-dof trajectory state containing position, velocity and acceleration data. More...
class  QuinticSplineSegment
 Class representing a multi-dimensional quintic spline segment with a start and end time. More...

Functions

template<class TrajectoryIterator , class Time >
TrajectoryIterator findSegment (TrajectoryIterator first, TrajectoryIterator last, const Time &time)
 Find an iterator to the segment containing a specified time.
template<class Trajectory , class Time >
Trajectory::const_iterator findSegment (const Trajectory &trajectory, const Time &time)
 Find an iterator to the segment containing a specified time.
template<class Trajectory , class Time >
Trajectory::iterator findSegment (Trajectory &trajectory, const Time &time)
 Equivalent to findSegment but returning a non-const iterator.
template<class Trajectory >
Trajectory::const_iterator sample (const Trajectory &trajectory, const typename Trajectory::value_type::Time &time, typename Trajectory::value_type::State &state)
 Sample a trajectory at a specified time.

Detailed Description

Author:
Adolfo Rodriguez Tsouroukdissian
Adolfo Rodriguez Tsouroukdissian, Stuart Glaser, Mrinal Kalakrishnan

Function Documentation

template<class TrajectoryIterator , class Time >
TrajectoryIterator trajectory_interface::findSegment ( TrajectoryIterator  first,
TrajectoryIterator  last,
const Time &  time 
) [inline]

Find an iterator to the segment containing a specified time.

Parameters:
firstInput iterator to the initial position in the segment sequence.
lastInput iterator to the final position in the segment sequence. The range searched is [first,last).
timeTime to search for in the range.
Returns:
Iterator to the trajectory segment containing time. If no segment contains time (ie. it's earlier than the start time of first), then last is returned.
Precondition:
The range [first,last) should be sorted by segment start time.
Note:
On average, this method has logarithmic time complexity when used on random-access iterators. On non-random-access iterators, iterator advances incur an additional linear time cost.

Definition at line 80 of file trajectory_interface.h.

template<class Trajectory , class Time >
Trajectory::const_iterator trajectory_interface::findSegment ( const Trajectory &  trajectory,
const Time &  time 
) [inline]

Find an iterator to the segment containing a specified time.

This is a convenience method wrapping the iterator-based findSegment overload.

Template Parameters:
TrajectoryTrajectory type. Should be a sequence container sorted by segment start time.
See also:
findSegment(TrajectoryIterator first, TrajectoryIterator last, const Time& time)

Definition at line 99 of file trajectory_interface.h.

template<class Trajectory , class Time >
Trajectory::iterator trajectory_interface::findSegment ( Trajectory &  trajectory,
const Time &  time 
) [inline]

Equivalent to findSegment but returning a non-const iterator.

Note:
Although is passed by non-const reference, it is not modified by this function. It's a workaround to allow overloads of this function to coexist (they need different signatures to prevent ambiguities).

Definition at line 112 of file trajectory_interface.h.

template<class Trajectory >
Trajectory::const_iterator trajectory_interface::sample ( const Trajectory &  trajectory,
const typename Trajectory::value_type::Time &  time,
typename Trajectory::value_type::State &  state 
) [inline]

Sample a trajectory at a specified time.

This is a convenience function that combines finding the segment associated to a specified time (see findSegment) and sampling it.

Template Parameters:
TrajectoryTrajectory type. Should be a sequence container sorted by segment start time.
Parameters:
[in]trajectoryHolds a sequence of segments.
[in]timeWhere the trajectory is to be sampled.
[out]stateSegment state at time.
Returns:
Iterator to the trajectory segment containing time. If no segment contains time, then trajectory.end() is returned.
Note:
The segment implementation should allow sampling outside the trajectory time interval, implementing a policy such as holding the first/last position. In such a case, it is possible to get a valid sample for all time inputs, even for the cases when this function returns trajectory.end().
See also:
findSegment

Definition at line 138 of file trajectory_interface.h.



joint_trajectory_controller
Author(s): Adolfo Rodriguez Tsouroukdissian
autogenerated on Sat Aug 13 2016 04:20:51