Public Member Functions | Private Attributes | List of all members
robot_trajectory::RobotTrajectory Class Reference

Maintain a sequence of waypoints and the time durations between these waypoints. More...

#include <robot_trajectory.h>

Public Member Functions

void addPrefixWayPoint (const robot_state::RobotState &state, double dt)
 
void addPrefixWayPoint (const robot_state::RobotStatePtr &state, double dt)
 
void addSuffixWayPoint (const robot_state::RobotState &state, double dt)
 Add a point to the trajectory. More...
 
void addSuffixWayPoint (const robot_state::RobotStatePtr &state, double dt)
 Add a point to the trajectory. More...
 
void append (const RobotTrajectory &source, double dt)
 Add a trajectory to the end of the current trajectory. More...
 
void clear ()
 
bool empty () const
 
void findWayPointIndicesForDurationAfterStart (const double &duration, int &before, int &after, double &blend) const
 Finds the waypoint indicies before and after a duration from start. More...
 
double getAverageSegmentDuration () const
 
const robot_state::RobotStategetFirstWayPoint () const
 
robot_state::RobotStatePtr & getFirstWayPointPtr ()
 
const robot_model::JointModelGroupgetGroup () const
 
const std::string & getGroupName () const
 
const robot_state::RobotStategetLastWayPoint () const
 
robot_state::RobotStatePtr & getLastWayPointPtr ()
 
const robot_model::RobotModelConstPtr & getRobotModel () const
 
void getRobotTrajectoryMsg (moveit_msgs::RobotTrajectory &trajectory) const
 
bool getStateAtDurationFromStart (const double request_duration, robot_state::RobotStatePtr &output_state) const
 Gets a robot state corresponding to a supplied duration from start for the trajectory, using linear time interpolation. More...
 
const robot_state::RobotStategetWayPoint (std::size_t index) const
 
std::size_t getWayPointCount () const
 
double getWayPointDurationFromPrevious (std::size_t index) const
 
double getWayPointDurationFromStart (std::size_t index) const
 Returns the duration after start that a waypoint will be reached. More...
 
MOVEIT_DEPRECATED double getWaypointDurationFromStart (std::size_t index) const
 
const std::deque< double > & getWayPointDurations () const
 
robot_state::RobotStatePtr & getWayPointPtr (std::size_t index)
 
void insertWayPoint (std::size_t index, const robot_state::RobotState &state, double dt)
 
void insertWayPoint (std::size_t index, const robot_state::RobotStatePtr &state, double dt)
 
void reverse ()
 
 RobotTrajectory (const robot_model::RobotModelConstPtr &robot_model, const std::string &group)
 
 RobotTrajectory (const robot_model::RobotModelConstPtr &robot_model, const robot_model::JointModelGroup *group)
 
void setGroupName (const std::string &group_name)
 
void setRobotTrajectoryMsg (const robot_state::RobotState &reference_state, const trajectory_msgs::JointTrajectory &trajectory)
 Copy the content of the trajectory message into this class. The trajectory message itself is not required to contain the values for all joints. For this reason a full starting state must be specified as reference (reference_state). Each point in the trajectory to be constructed internally is obtained by copying the reference state and overwriting the content from a trajectory point in trajectory. More...
 
void setRobotTrajectoryMsg (const robot_state::RobotState &reference_state, const moveit_msgs::RobotTrajectory &trajectory)
 Copy the content of the trajectory message into this class. The trajectory message itself is not required to contain the values for all joints. For this reason a full starting state must be specified as reference (reference_state). Each point in the trajectory to be constructed internally is obtained by copying the reference state and overwriting the content from a trajectory point in trajectory. More...
 
void setRobotTrajectoryMsg (const robot_state::RobotState &reference_state, const moveit_msgs::RobotState &state, const moveit_msgs::RobotTrajectory &trajectory)
 Copy the content of the trajectory message into this class. The trajectory message itself is not required to contain the values for all joints. For this reason a full starting state must be specified as reference (reference_state). Before use, the reference state is updated using state. Each point in the trajectory to be constructed internally is obtained by copying the reference state and overwriting the content from a trajectory point in trajectory. More...
 
void setWayPointDurationFromPrevious (std::size_t index, double value)
 
void swap (robot_trajectory::RobotTrajectory &other)
 
void unwind ()
 
void unwind (const robot_state::RobotState &state)
 

Private Attributes

std::deque< double > duration_from_previous_
 
const robot_model::JointModelGroupgroup_
 
robot_model::RobotModelConstPtr robot_model_
 
std::deque< robot_state::RobotStatePtr > waypoints_
 

Detailed Description

Maintain a sequence of waypoints and the time durations between these waypoints.

Definition at line 53 of file robot_trajectory.h.

Constructor & Destructor Documentation

robot_trajectory::RobotTrajectory::RobotTrajectory ( const robot_model::RobotModelConstPtr &  robot_model,
const std::string &  group 
)

Definition at line 45 of file robot_trajectory.cpp.

robot_trajectory::RobotTrajectory::RobotTrajectory ( const robot_model::RobotModelConstPtr &  robot_model,
const robot_model::JointModelGroup group 
)

Definition at line 50 of file robot_trajectory.cpp.

Member Function Documentation

void robot_trajectory::RobotTrajectory::addPrefixWayPoint ( const robot_state::RobotState state,
double  dt 
)
inline

Definition at line 164 of file robot_trajectory.h.

void robot_trajectory::RobotTrajectory::addPrefixWayPoint ( const robot_state::RobotStatePtr &  state,
double  dt 
)
inline

Definition at line 169 of file robot_trajectory.h.

void robot_trajectory::RobotTrajectory::addSuffixWayPoint ( const robot_state::RobotState state,
double  dt 
)
inline

Add a point to the trajectory.

Parameters
state- current robot state
dt- duration from previous

Definition at line 147 of file robot_trajectory.h.

void robot_trajectory::RobotTrajectory::addSuffixWayPoint ( const robot_state::RobotStatePtr &  state,
double  dt 
)
inline

Add a point to the trajectory.

Parameters
state- current robot state
dt- duration from previous

Definition at line 157 of file robot_trajectory.h.

void robot_trajectory::RobotTrajectory::append ( const RobotTrajectory source,
double  dt 
)

Add a trajectory to the end of the current trajectory.

Parameters
source- the trajectory to append to the end of current trajectory
dt- time step between last traj point in current traj, and first traj point of new traj

Definition at line 86 of file robot_trajectory.cpp.

void robot_trajectory::RobotTrajectory::clear ( void  )

Definition at line 188 of file robot_trajectory.cpp.

bool robot_trajectory::RobotTrajectory::empty ( ) const
inline

Definition at line 137 of file robot_trajectory.h.

void robot_trajectory::RobotTrajectory::findWayPointIndicesForDurationAfterStart ( const double &  duration,
int &  before,
int &  after,
double &  blend 
) const

Finds the waypoint indicies before and after a duration from start.

Parameters
Theduration from start.
Thewaypoint index before the supplied duration.
Thewaypoint index after (or equal to) the supplied duration.
Theprogress (0 to 1) between the two waypoints, based on time (not based on joint distances).

Definition at line 403 of file robot_trajectory.cpp.

double robot_trajectory::RobotTrajectory::getAverageSegmentDuration ( ) const

Definition at line 69 of file robot_trajectory.cpp.

const robot_state::RobotState& robot_trajectory::RobotTrajectory::getFirstWayPoint ( ) const
inline

Definition at line 89 of file robot_trajectory.h.

robot_state::RobotStatePtr& robot_trajectory::RobotTrajectory::getFirstWayPointPtr ( )
inline

Definition at line 104 of file robot_trajectory.h.

const robot_model::JointModelGroup* robot_trajectory::RobotTrajectory::getGroup ( ) const
inline

Definition at line 65 of file robot_trajectory.h.

const std::string & robot_trajectory::RobotTrajectory::getGroupName ( ) const

Definition at line 61 of file robot_trajectory.cpp.

const robot_state::RobotState& robot_trajectory::RobotTrajectory::getLastWayPoint ( ) const
inline

Definition at line 84 of file robot_trajectory.h.

robot_state::RobotStatePtr& robot_trajectory::RobotTrajectory::getLastWayPointPtr ( )
inline

Definition at line 99 of file robot_trajectory.h.

const robot_model::RobotModelConstPtr& robot_trajectory::RobotTrajectory::getRobotModel ( ) const
inline

Definition at line 60 of file robot_trajectory.h.

void robot_trajectory::RobotTrajectory::getRobotTrajectoryMsg ( moveit_msgs::RobotTrajectory &  trajectory) const

Definition at line 194 of file robot_trajectory.cpp.

bool robot_trajectory::RobotTrajectory::getStateAtDurationFromStart ( const double  request_duration,
robot_state::RobotStatePtr &  output_state 
) const

Gets a robot state corresponding to a supplied duration from start for the trajectory, using linear time interpolation.

Parameters
Theduration from start.
Theresulting robot state.
Returns
True if state is valid, false otherwise (trajectory is empty).

Definition at line 452 of file robot_trajectory.cpp.

const robot_state::RobotState& robot_trajectory::RobotTrajectory::getWayPoint ( std::size_t  index) const
inline

Definition at line 79 of file robot_trajectory.h.

std::size_t robot_trajectory::RobotTrajectory::getWayPointCount ( ) const
inline

Definition at line 74 of file robot_trajectory.h.

double robot_trajectory::RobotTrajectory::getWayPointDurationFromPrevious ( std::size_t  index) const
inline

Definition at line 122 of file robot_trajectory.h.

double robot_trajectory::RobotTrajectory::getWayPointDurationFromStart ( std::size_t  index) const

Returns the duration after start that a waypoint will be reached.

Parameters
Thewaypoint index.
Returns
The duration from start; returns overall duration if index is out of range.

Definition at line 434 of file robot_trajectory.cpp.

double robot_trajectory::RobotTrajectory::getWaypointDurationFromStart ( std::size_t  index) const

Definition at line 447 of file robot_trajectory.cpp.

const std::deque<double>& robot_trajectory::RobotTrajectory::getWayPointDurations ( ) const
inline

Definition at line 109 of file robot_trajectory.h.

robot_state::RobotStatePtr& robot_trajectory::RobotTrajectory::getWayPointPtr ( std::size_t  index)
inline

Definition at line 94 of file robot_trajectory.h.

void robot_trajectory::RobotTrajectory::insertWayPoint ( std::size_t  index,
const robot_state::RobotState state,
double  dt 
)
inline

Definition at line 176 of file robot_trajectory.h.

void robot_trajectory::RobotTrajectory::insertWayPoint ( std::size_t  index,
const robot_state::RobotStatePtr &  state,
double  dt 
)
inline

Definition at line 181 of file robot_trajectory.h.

void robot_trajectory::RobotTrajectory::reverse ( )

Definition at line 96 of file robot_trajectory.cpp.

void robot_trajectory::RobotTrajectory::setGroupName ( const std::string &  group_name)

Definition at line 56 of file robot_trajectory.cpp.

void robot_trajectory::RobotTrajectory::setRobotTrajectoryMsg ( const robot_state::RobotState reference_state,
const trajectory_msgs::JointTrajectory &  trajectory 
)

Copy the content of the trajectory message into this class. The trajectory message itself is not required to contain the values for all joints. For this reason a full starting state must be specified as reference (reference_state). Each point in the trajectory to be constructed internally is obtained by copying the reference state and overwriting the content from a trajectory point in trajectory.

Definition at line 319 of file robot_trajectory.cpp.

void robot_trajectory::RobotTrajectory::setRobotTrajectoryMsg ( const robot_state::RobotState reference_state,
const moveit_msgs::RobotTrajectory &  trajectory 
)

Copy the content of the trajectory message into this class. The trajectory message itself is not required to contain the values for all joints. For this reason a full starting state must be specified as reference (reference_state). Each point in the trajectory to be constructed internally is obtained by copying the reference state and overwriting the content from a trajectory point in trajectory.

Definition at line 345 of file robot_trajectory.cpp.

void robot_trajectory::RobotTrajectory::setRobotTrajectoryMsg ( const robot_state::RobotState reference_state,
const moveit_msgs::RobotState &  state,
const moveit_msgs::RobotTrajectory &  trajectory 
)

Copy the content of the trajectory message into this class. The trajectory message itself is not required to contain the values for all joints. For this reason a full starting state must be specified as reference (reference_state). Before use, the reference state is updated using state. Each point in the trajectory to be constructed internally is obtained by copying the reference state and overwriting the content from a trajectory point in trajectory.

Definition at line 394 of file robot_trajectory.cpp.

void robot_trajectory::RobotTrajectory::setWayPointDurationFromPrevious ( std::size_t  index,
double  value 
)
inline

Definition at line 130 of file robot_trajectory.h.

void robot_trajectory::RobotTrajectory::swap ( robot_trajectory::RobotTrajectory other)

Definition at line 78 of file robot_trajectory.cpp.

void robot_trajectory::RobotTrajectory::unwind ( )

Definition at line 107 of file robot_trajectory.cpp.

void robot_trajectory::RobotTrajectory::unwind ( const robot_state::RobotState state)

Definition at line 142 of file robot_trajectory.cpp.

Member Data Documentation

std::deque<double> robot_trajectory::RobotTrajectory::duration_from_previous_
private

Definition at line 257 of file robot_trajectory.h.

const robot_model::JointModelGroup* robot_trajectory::RobotTrajectory::group_
private

Definition at line 255 of file robot_trajectory.h.

robot_model::RobotModelConstPtr robot_trajectory::RobotTrajectory::robot_model_
private

Definition at line 254 of file robot_trajectory.h.

std::deque<robot_state::RobotStatePtr> robot_trajectory::RobotTrajectory::waypoints_
private

Definition at line 256 of file robot_trajectory.h.


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


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sun Oct 21 2018 10:36:33