robotis_manipulator::Trajectory Class Reference

#include <robotis_manipulator_trajectory_generator.h>

Public Member Functions
void	addCustomTrajectory (Name trajectory_name, CustomJointTrajectory *custom_trajectory)
void	addCustomTrajectory (Name trajectory_name, CustomTaskTrajectory *custom_trajectory)
bool	checkTrajectoryType (TrajectoryType trajectory_type)
CustomJointTrajectory *	getCustomJointTrajectory (Name name)
CustomTaskTrajectory *	getCustomTaskTrajectory (Name name)
JointTrajectory	getJointTrajectory ()
Manipulator *	getManipulator ()
double	getMoveTime ()
Name	getPresentControlToolName ()
Name	getPresentCustomTrajectoryName ()
JointWaypoint	getPresentJointWaypoint ()
TaskWaypoint	getPresentTaskWaypoint (Name tool_name)
TaskTrajectory	getTaskTrajectory ()
double	getTickTime ()
double	getToolGoalPosition (Name tool_name)
	getToolGoalPosition More...
JointValue	getToolGoalValue (Name tool_name)
void	initTrajectoryWaypoint (Manipulator actual_manipulator, Kinematics *kinematics=nullptr)
bool	makeCustomTrajectory (Name trajectory_name, JointWaypoint start_way_point, const void *arg)
	makeCustomTrajectory More...
bool	makeCustomTrajectory (Name trajectory_name, TaskWaypoint start_way_point, const void *arg)
	makeCustomTrajectory More...
bool	makeJointTrajectory (JointWaypoint start_way_point, JointWaypoint goal_way_point)
	makeJointTrajectory More...
bool	makeTaskTrajectory (TaskWaypoint start_way_point, TaskWaypoint goal_way_point)
	makeTaskTrajectory More...
JointWaypoint	removeWaypointDynamicData (JointWaypoint value)
TaskWaypoint	removeWaypointDynamicData (TaskWaypoint value)
void	setCustomTrajectoryOption (Name trajectory_name, const void *arg)
void	setManipulator (Manipulator manipulator)
void	setMoveTime (double move_time)
void	setPresentControlToolName (Name present_control_tool_name)
void	setPresentJointWaypoint (JointWaypoint joint_value_vector)
void	setPresentTaskWaypoint (Name tool_name, TaskWaypoint tool_position_value_vector)
void	setPresentTime (double present_time)
void	setStartTime (double start_time)
void	setStartTimeToPresentTime ()
bool	setToolGoalPosition (Name tool_name, double tool_goal_position)
	setToolGoalPosition More...
bool	setToolGoalValue (Name tool_name, JointValue tool_goal_value)
	setToolGoalValue More...
void	setTrajectoryType (TrajectoryType trajectory_type)
	Trajectory ()
void	updatePresentWaypoint (Kinematics *kinematics)
	~Trajectory ()

Private Attributes
std::map< Name, CustomJointTrajectory * >	cus_joint_
std::map< Name, CustomTaskTrajectory * >	cus_task_
JointTrajectory	joint_
Manipulator	manipulator_
Name	present_control_tool_name_
Name	present_custom_trajectory_name_
TaskTrajectory	task_
Time	trajectory_time_
TrajectoryType	trajectory_type_

Detailed Description

Definition at line 111 of file robotis_manipulator_trajectory_generator.h.

Constructor & Destructor Documentation

Trajectory()

robotis_manipulator::Trajectory::Trajectory ( )

inline

Definition at line 129 of file robotis_manipulator_trajectory_generator.h.

~Trajectory()

robotis_manipulator::Trajectory::~Trajectory ( )

inline

Definition at line 130 of file robotis_manipulator_trajectory_generator.h.

Member Function Documentation

addCustomTrajectory() [1/2]

void Trajectory::addCustomTrajectory	(	Name	trajectory_name,
		CustomJointTrajectory *	custom_trajectory
	)

Definition at line 331 of file robotis_manipulator_trajectory_generator.cpp.

addCustomTrajectory() [2/2]

void Trajectory::addCustomTrajectory	(	Name	trajectory_name,
		CustomTaskTrajectory *	custom_trajectory
	)

Definition at line 336 of file robotis_manipulator_trajectory_generator.cpp.

checkTrajectoryType()

bool Trajectory::checkTrajectoryType

(

TrajectoryType

trajectory_type

)

Definition at line 428 of file robotis_manipulator_trajectory_generator.cpp.

getCustomJointTrajectory()

CustomJointTrajectory * Trajectory::getCustomJointTrajectory

(

Name

name

)

Definition at line 321 of file robotis_manipulator_trajectory_generator.cpp.

getCustomTaskTrajectory()

CustomTaskTrajectory * Trajectory::getCustomTaskTrajectory

(

Name

name

)

Definition at line 326 of file robotis_manipulator_trajectory_generator.cpp.

getJointTrajectory()

JointTrajectory Trajectory::getJointTrajectory

(

)

Definition at line 311 of file robotis_manipulator_trajectory_generator.cpp.

getManipulator()

Manipulator * Trajectory::getManipulator

(

)

Definition at line 306 of file robotis_manipulator_trajectory_generator.cpp.

getMoveTime()

double Trajectory::getMoveTime

(

)

Definition at line 291 of file robotis_manipulator_trajectory_generator.cpp.

getPresentControlToolName()

Name Trajectory::getPresentControlToolName

(

)

Definition at line 359 of file robotis_manipulator_trajectory_generator.cpp.

getPresentCustomTrajectoryName()

Name Trajectory::getPresentCustomTrajectoryName

(

)

Definition at line 354 of file robotis_manipulator_trajectory_generator.cpp.

getPresentJointWaypoint()

JointWaypoint Trajectory::getPresentJointWaypoint

(

)

Definition at line 391 of file robotis_manipulator_trajectory_generator.cpp.

getPresentTaskWaypoint()

TaskWaypoint Trajectory::getPresentTaskWaypoint

(

Name

tool_name

)

Definition at line 396 of file robotis_manipulator_trajectory_generator.cpp.

getTaskTrajectory()

TaskTrajectory Trajectory::getTaskTrajectory

(

)

Definition at line 316 of file robotis_manipulator_trajectory_generator.cpp.

getTickTime()

double Trajectory::getTickTime

(

)

Definition at line 296 of file robotis_manipulator_trajectory_generator.cpp.

getToolGoalPosition()

double Trajectory::getToolGoalPosition

(

Name

tool_name

)

getToolGoalPosition

Parameters

tool_name

Returns

Definition at line 490 of file robotis_manipulator_trajectory_generator.cpp.

getToolGoalValue()

JointValue Trajectory::getToolGoalValue

(

Name

tool_name

)

Definition at line 495 of file robotis_manipulator_trajectory_generator.cpp.

initTrajectoryWaypoint()

void Trajectory::initTrajectoryWaypoint	(	Manipulator	actual_manipulator,
		Kinematics *	kinematics = nullptr
	)

Definition at line 364 of file robotis_manipulator_trajectory_generator.cpp.

makeCustomTrajectory() [1/2]

bool Trajectory::makeCustomTrajectory	(	Name	trajectory_name,
		JointWaypoint	start_way_point,
		const void *	arg
	)

makeCustomTrajectory

Parameters

trajectory_name
start_way_point
arg

Definition at line 446 of file robotis_manipulator_trajectory_generator.cpp.

makeCustomTrajectory() [2/2]

bool Trajectory::makeCustomTrajectory	(	Name	trajectory_name,
		TaskWaypoint	start_way_point,
		const void *	arg
	)

makeCustomTrajectory

Parameters

trajectory_name
start_way_point
arg

Definition at line 461 of file robotis_manipulator_trajectory_generator.cpp.

makeJointTrajectory()

bool Trajectory::makeJointTrajectory	(	JointWaypoint	start_way_point,
		JointWaypoint	goal_way_point
	)

makeJointTrajectory

Parameters

start_way_point
goal_way_point

Definition at line 436 of file robotis_manipulator_trajectory_generator.cpp.

makeTaskTrajectory()

bool Trajectory::makeTaskTrajectory	(	TaskWaypoint	start_way_point,
		TaskWaypoint	goal_way_point
	)

makeTaskTrajectory

Parameters

start_way_point
goal_way_point

Definition at line 441 of file robotis_manipulator_trajectory_generator.cpp.

removeWaypointDynamicData() [1/2]

JointWaypoint Trajectory::removeWaypointDynamicData

(

JointWaypoint

value

)

Definition at line 401 of file robotis_manipulator_trajectory_generator.cpp.

removeWaypointDynamicData() [2/2]

TaskWaypoint Trajectory::removeWaypointDynamicData

(

TaskWaypoint

value

)

Definition at line 412 of file robotis_manipulator_trajectory_generator.cpp.

setCustomTrajectoryOption()

void Trajectory::setCustomTrajectoryOption	(	Name	trajectory_name,
		const void *	arg
	)

Definition at line 341 of file robotis_manipulator_trajectory_generator.cpp.

setManipulator()

void Trajectory::setManipulator

(

Manipulator

manipulator

)

Definition at line 301 of file robotis_manipulator_trajectory_generator.cpp.

setMoveTime()

void Trajectory::setMoveTime

(

double

move_time

)

Definition at line 271 of file robotis_manipulator_trajectory_generator.cpp.

setPresentControlToolName()

void Trajectory::setPresentControlToolName

(

Name

present_control_tool_name

)

Definition at line 349 of file robotis_manipulator_trajectory_generator.cpp.

setPresentJointWaypoint()

void Trajectory::setPresentJointWaypoint

(

JointWaypoint

joint_value_vector

)

Definition at line 381 of file robotis_manipulator_trajectory_generator.cpp.

setPresentTaskWaypoint()

void Trajectory::setPresentTaskWaypoint	(	Name	tool_name,
		TaskWaypoint	tool_position_value_vector
	)

Definition at line 386 of file robotis_manipulator_trajectory_generator.cpp.

setPresentTime()

void Trajectory::setPresentTime

(

double

present_time

)

Definition at line 276 of file robotis_manipulator_trajectory_generator.cpp.

setStartTime()

void Trajectory::setStartTime

(

double

start_time

)

Definition at line 286 of file robotis_manipulator_trajectory_generator.cpp.

setStartTimeToPresentTime()

void Trajectory::setStartTimeToPresentTime

(

)

Definition at line 281 of file robotis_manipulator_trajectory_generator.cpp.

setToolGoalPosition()

bool Trajectory::setToolGoalPosition	(	Name	tool_name,
		double	tool_goal_position
	)

setToolGoalPosition

Parameters

tool_name
tool_goal_position

Definition at line 477 of file robotis_manipulator_trajectory_generator.cpp.

setToolGoalValue()

bool Trajectory::setToolGoalValue	(	Name	tool_name,
		JointValue	tool_goal_value
	)

setToolGoalValue

Parameters

tool_name
tool_goal_value

Definition at line 484 of file robotis_manipulator_trajectory_generator.cpp.

setTrajectoryType()

void Trajectory::setTrajectoryType

(

TrajectoryType

trajectory_type

)

Definition at line 423 of file robotis_manipulator_trajectory_generator.cpp.

updatePresentWaypoint()

void Trajectory::updatePresentWaypoint

(

Kinematics *

kinematics

)

Definition at line 375 of file robotis_manipulator_trajectory_generator.cpp.

Member Data Documentation

cus_joint_

std::map<Name, CustomJointTrajectory *> robotis_manipulator::Trajectory::cus_joint_

private

Definition at line 122 of file robotis_manipulator_trajectory_generator.h.

cus_task_

std::map<Name, CustomTaskTrajectory *> robotis_manipulator::Trajectory::cus_task_

private

Definition at line 123 of file robotis_manipulator_trajectory_generator.h.

joint_

JointTrajectory robotis_manipulator::Trajectory::joint_

private

Definition at line 120 of file robotis_manipulator_trajectory_generator.h.

manipulator_

Manipulator robotis_manipulator::Trajectory::manipulator_

private

Definition at line 118 of file robotis_manipulator_trajectory_generator.h.

present_control_tool_name_

Name robotis_manipulator::Trajectory::present_control_tool_name_

private

Definition at line 126 of file robotis_manipulator_trajectory_generator.h.

present_custom_trajectory_name_

Name robotis_manipulator::Trajectory::present_custom_trajectory_name_

private

Definition at line 125 of file robotis_manipulator_trajectory_generator.h.

task_

TaskTrajectory robotis_manipulator::Trajectory::task_

private

Definition at line 121 of file robotis_manipulator_trajectory_generator.h.

trajectory_time_

Time robotis_manipulator::Trajectory::trajectory_time_

private

Definition at line 117 of file robotis_manipulator_trajectory_generator.h.

trajectory_type_

TrajectoryType robotis_manipulator::Trajectory::trajectory_type_

private

Definition at line 116 of file robotis_manipulator_trajectory_generator.h.

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

• robotis_manipulator_trajectory_generator.h
• robotis_manipulator_trajectory_generator.cpp