Public Member Functions | Public Attributes | Private Attributes | List of all members
robotis_framework::MinimumJerk Class Reference

#include <minimum_jerk_trajectory.h>

Public Member Functions

std::vector< double_t > getAcceleration (double time)
 
std::vector< double_t > getPosition (double time)
 
std::vector< double_t > getVelocity (double time)
 
 MinimumJerk (double ini_time, double fin_time, std::vector< double_t > ini_pos, std::vector< double_t > ini_vel, std::vector< double_t > ini_acc, std::vector< double_t > fin_pos, std::vector< double_t > fin_vel, std::vector< double_t > fin_acc)
 
virtual ~MinimumJerk ()
 

Public Attributes

Eigen::MatrixXd acceleration_coeff_
 
std::vector< double_t > cur_acc_
 
std::vector< double_t > cur_pos_
 
double cur_time_
 
std::vector< double_t > cur_vel_
 
Eigen::MatrixXd position_coeff_
 
Eigen::MatrixXd time_variables_
 
Eigen::MatrixXd velocity_coeff_
 

Private Attributes

std::vector< double_t > fin_acc_
 
std::vector< double_t > fin_pos_
 
double fin_time_
 
std::vector< double_t > fin_vel_
 
std::vector< double_t > ini_acc_
 
std::vector< double_t > ini_pos_
 
double ini_time_
 
std::vector< double_t > ini_vel_
 
int number_of_joint_
 

Detailed Description

Definition at line 33 of file minimum_jerk_trajectory.h.

Constructor & Destructor Documentation

MinimumJerk::MinimumJerk ( double  ini_time,
double  fin_time,
std::vector< double_t >  ini_pos,
std::vector< double_t >  ini_vel,
std::vector< double_t >  ini_acc,
std::vector< double_t >  fin_pos,
std::vector< double_t >  fin_vel,
std::vector< double_t >  fin_acc 
)

Definition at line 21 of file minimum_jerk_trajectory.cpp.

MinimumJerk::~MinimumJerk ( )
virtual

Definition at line 98 of file minimum_jerk_trajectory.cpp.

Member Function Documentation

std::vector< double_t > MinimumJerk::getAcceleration ( double  time)

Definition at line 143 of file minimum_jerk_trajectory.cpp.

std::vector< double_t > MinimumJerk::getPosition ( double  time)

Definition at line 103 of file minimum_jerk_trajectory.cpp.

std::vector< double_t > MinimumJerk::getVelocity ( double  time)

Definition at line 123 of file minimum_jerk_trajectory.cpp.

Member Data Documentation

Eigen::MatrixXd robotis_framework::MinimumJerk::acceleration_coeff_

Definition at line 52 of file minimum_jerk_trajectory.h.

std::vector<double_t> robotis_framework::MinimumJerk::cur_acc_

Definition at line 48 of file minimum_jerk_trajectory.h.

std::vector<double_t> robotis_framework::MinimumJerk::cur_pos_

Definition at line 46 of file minimum_jerk_trajectory.h.

double robotis_framework::MinimumJerk::cur_time_

Definition at line 45 of file minimum_jerk_trajectory.h.

std::vector<double_t> robotis_framework::MinimumJerk::cur_vel_

Definition at line 47 of file minimum_jerk_trajectory.h.

std::vector<double_t> robotis_framework::MinimumJerk::fin_acc_
private

Definition at line 59 of file minimum_jerk_trajectory.h.

std::vector<double_t> robotis_framework::MinimumJerk::fin_pos_
private

Definition at line 59 of file minimum_jerk_trajectory.h.

double robotis_framework::MinimumJerk::fin_time_
private

Definition at line 57 of file minimum_jerk_trajectory.h.

std::vector<double_t> robotis_framework::MinimumJerk::fin_vel_
private

Definition at line 59 of file minimum_jerk_trajectory.h.

std::vector<double_t> robotis_framework::MinimumJerk::ini_acc_
private

Definition at line 58 of file minimum_jerk_trajectory.h.

std::vector<double_t> robotis_framework::MinimumJerk::ini_pos_
private

Definition at line 58 of file minimum_jerk_trajectory.h.

double robotis_framework::MinimumJerk::ini_time_
private

Definition at line 57 of file minimum_jerk_trajectory.h.

std::vector<double_t> robotis_framework::MinimumJerk::ini_vel_
private

Definition at line 58 of file minimum_jerk_trajectory.h.

int robotis_framework::MinimumJerk::number_of_joint_
private

Definition at line 56 of file minimum_jerk_trajectory.h.

Eigen::MatrixXd robotis_framework::MinimumJerk::position_coeff_

Definition at line 50 of file minimum_jerk_trajectory.h.

Eigen::MatrixXd robotis_framework::MinimumJerk::time_variables_

Definition at line 53 of file minimum_jerk_trajectory.h.

Eigen::MatrixXd robotis_framework::MinimumJerk::velocity_coeff_

Definition at line 51 of file minimum_jerk_trajectory.h.


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


robotis_math
Author(s): SCH , Kayman , Jay Song
autogenerated on Fri Mar 23 2018 02:17:46