robotis_trajectory_calculator.h
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3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
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13 * See the License for the specific language governing permissions and
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16 
17 /*
18  * robotis_trajectory_calculator.h
19  *
20  * Created on: June 7, 2016
21  * Author: SCH
22  */
23 
24 #ifndef ROBOTIS_MATH_ROBOTIS_TRAJECTORY_CALCULATOR_H_
25 #define ROBOTIS_MATH_ROBOTIS_TRAJECTORY_CALCULATOR_H_
26 
27 #define EIGEN_NO_DEBUG
28 #define EIGEN_NO_STATIC_ASSERT
29 
30 #include "robotis_linear_algebra.h"
31 #include "robotis_math_base.h"
34 
35 
36 namespace robotis_framework
37 {
38 // minimum jerk trajectory
39 Eigen::MatrixXd calcMinimumJerkTra(double pos_start, double vel_start, double accel_start,
40  double pos_end, double vel_end, double accel_end,
41  double smp_time, double mov_time);
42 
43 Eigen::MatrixXd calcMinimumJerkTraPlus(double pos_start, double vel_start, double accel_start,
44  double pos_end, double vel_end, double accel_end,
45  double smp_time, double mov_time);
46 
47 Eigen::MatrixXd calcMinimumJerkTraWithViaPoints(int via_num,
48  double pos_start, double vel_start, double accel_start,
49  Eigen::MatrixXd pos_via, Eigen::MatrixXd vel_via, Eigen::MatrixXd accel_via,
50  double pos_end, double vel_end, double accel_end,
51  double smp_time, Eigen::MatrixXd via_time, double mov_time);
52 
53 Eigen::MatrixXd calcMinimumJerkTraWithViaPointsPosition(int via_num,
54  double pos_start, double vel_start, double accel_start,
55  Eigen::MatrixXd pos_via,
56  double pos_end, double vel_end, double accel_end,
57  double smp_time, Eigen::MatrixXd via_time, double mov_time);
58 
59 Eigen::MatrixXd calcArc3dTra(double smp_time, double mov_time,
60  Eigen::MatrixXd center_point, Eigen::MatrixXd normal_vector, Eigen::MatrixXd start_point,
61  double rotation_angle, double cross_ratio);
62 
63 }
64 
65 #endif /* ROBOTIS_MATH_ROBOTIS_TRAJECTORY_CALCULATOR_H_ */
Eigen::MatrixXd calcMinimumJerkTraPlus(double pos_start, double vel_start, double accel_start, double pos_end, double vel_end, double accel_end, double smp_time, double mov_time)
Eigen::MatrixXd calcMinimumJerkTra(double pos_start, double vel_start, double accel_start, double pos_end, double vel_end, double accel_end, double smp_time, double mov_time)
Eigen::MatrixXd calcArc3dTra(double smp_time, double mov_time, Eigen::MatrixXd center_point, Eigen::MatrixXd normal_vector, Eigen::MatrixXd start_point, double rotation_angle, double cross_ratio)
Eigen::MatrixXd calcMinimumJerkTraWithViaPointsPosition(int via_num, double pos_start, double vel_start, double accel_start, Eigen::MatrixXd pos_via, double pos_end, double vel_end, double accel_end, double smp_time, Eigen::MatrixXd via_time, double mov_time)
Eigen::MatrixXd calcMinimumJerkTraWithViaPoints(int via_num, double pos_start, double vel_start, double accel_start, Eigen::MatrixXd pos_via, Eigen::MatrixXd vel_via, Eigen::MatrixXd accel_via, double pos_end, double vel_end, double accel_end, double smp_time, Eigen::MatrixXd via_time, double mov_time)


robotis_math
Author(s): SCH , Kayman , Jay Song
autogenerated on Fri Jul 17 2020 03:17:50