ros_controllers_cartesian::CartesianTrajectory Class Reference

A class for Cartesian trajectory representation and interpolation. More...

#include <cartesian_trajectory.h>

Public Member Functions
	CartesianTrajectory ()=default
	CartesianTrajectory (const cartesian_control_msgs::CartesianTrajectory &ros_trajectory)
	Construct from ROS messages. More...
bool	init (const cartesian_control_msgs::CartesianTrajectory &ros_trajectory)
	Initialize from ROS message. More...
void	sample (const CartesianTrajectorySegment::Time &time, CartesianState &state)
	Sample a trajectory at a specified time. More...
virtual	~CartesianTrajectory ()

Private Attributes
std::vector< CartesianTrajectorySegment >	trajectory_data_

Detailed Description

A class for Cartesian trajectory representation and interpolation.

It's meant to be used inside ROS controllers to wrap the complexity of trajectory interpolation. Initialize instances of this helper with Cartesian ROS trajectories and sample CartesianState at specific time steps for robot control.

Definition at line 45 of file cartesian_trajectory.h.

Constructor & Destructor Documentation

CartesianTrajectory() [1/2]

ros_controllers_cartesian::CartesianTrajectory::CartesianTrajectory ( )

default

CartesianTrajectory() [2/2]

ros_controllers_cartesian::CartesianTrajectory::CartesianTrajectory

(

const cartesian_control_msgs::CartesianTrajectory &

ros_trajectory

)

Construct from ROS messages.

Calls init() and throws std::invalid_argument if that fails.

Parameters

ros_trajectory

The Cartesian trajectory composed with ROS message types

Definition at line 37 of file cartesian_trajectory.cpp.

~CartesianTrajectory()

virtual ros_controllers_cartesian::CartesianTrajectory::~CartesianTrajectory ( )

inlinevirtual

Definition at line 59 of file cartesian_trajectory.h.

Member Function Documentation

init()

bool ros_controllers_cartesian::CartesianTrajectory::init

(

const cartesian_control_msgs::CartesianTrajectory &

ros_trajectory

)

Initialize from ROS message.

Note

The first waypoint is expected to be the current state with time_from_start == 0.

Parameters

ros_trajectory

The Cartesian trajectory composed with ROS message types

Returns

True if ros_trajectory has increasing waypoints in time, else false.

Definition at line 45 of file cartesian_trajectory.cpp.

sample()

void ros_controllers_cartesian::CartesianTrajectory::sample	(	const CartesianTrajectorySegment::Time &	time,
		CartesianState &	state
	)

Sample a trajectory at a specified time.

The trajectory's waypoints are interpolated with splines (two-point polynomials) that are uniquely defined between each two waypoints and that scale with the fields given:

• Only pose = linear interpolation
• Pose and velocity = cubic interpolation
• Pose, velocity and acceleration = quintic interpolation

If this trajectory's waypoints have velocity and acceleration setpoints, state also contains the current velocity and acceleration, respectively. A typical application is using the sampled state as reference for robot control.

Parameters

time	Time at which to sample the trajectory
state	Cartesian state at time

Definition at line 32 of file cartesian_trajectory.cpp.

Member Data Documentation

trajectory_data_

std::vector<CartesianTrajectorySegment> ros_controllers_cartesian::CartesianTrajectory::trajectory_data_

private

Definition at line 94 of file cartesian_trajectory.h.

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

• cartesian_trajectory.h
• cartesian_trajectory.cpp