SpecifiedTrajectory.h
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1 /*
2  * UOS-ROS packages - Robot Operating System code by the University of Osnabrück
3  * Copyright (C) 2010 University of Osnabrück
4  *
5  * This program is free software; you can redistribute it and/or
6  * modify it under the terms of the GNU General Public License
7  * as published by the Free Software Foundation; either version 2
8  * of the License, or (at your option) any later version.
9  *
10  * This program is distributed in the hope that it will be useful,
11  * but WITHOUT ANY WARRANTY; without even the implied warranty of
12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13  * GNU General Public License for more details.
14  *
15  * You should have received a copy of the GNU General Public License
16  * along with this program; if not, write to the Free Software
17  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
18  *
19  * SpecifiedTrajectory.h
20  *
21  * Created on: 12.12.2010
22  * Author: Martin Günther <mguenthe@uos.de>
23  */
24 
25 #ifndef SPECIFIEDTRAJECTORY_H_
26 #define SPECIFIEDTRAJECTORY_H_
27 
28 namespace katana
29 {
30 // coef[0] + coef[1]*t + coef[2]*t^2 + coef[3]*t^3
31 struct Spline
32 {
33  std::vector<double> coef;
35 
36  Spline() :
37  coef(4, 0.0), target_position(0.0)
38  {
39  }
40 };
41 
42 struct Segment
43 {
44  double start_time;
45  double duration;
46  std::vector<Spline> splines;
47 };
48 typedef std::vector<Segment> SpecifiedTrajectory;
49 
50 }
51 
52 #endif /* SPECIFIEDTRAJECTORY_H_ */
std::vector< Segment > SpecifiedTrajectory
std::vector< Spline > splines
std::vector< double > coef


katana
Author(s): Martin Günther
autogenerated on Fri Jan 3 2020 04:01:25