ros_controllers_cartesian Namespace Reference

Classes
struct	CartesianState
	Cartesian state with pose, velocity and acceleration. More...
class	CartesianTrajectory
	A class for Cartesian trajectory representation and interpolation. More...
class	CartesianTrajectorySegment
	Cartesian segment between two trajectory waypoints. More...

Typedefs
using	QuinticSplineSegment = trajectory_interface::QuinticSplineSegment< double >
	7-dimensional quintic spline segment More...
using	SplineState = CartesianTrajectorySegment::SplineState
using	Time = CartesianTrajectorySegment::Time

Functions
CartesianTrajectorySegment::SplineState	convert (const CartesianState &state)
	Convert a CartesianState into a ros_controllers_cartesian::SplineState. More...
CartesianState	convert (const CartesianTrajectorySegment::SplineState &state)
	Convert a ros_controllers_cartesian::SplineState into a CartesianState. More...
std::ostream &	operator<< (std::ostream &os, const CartesianTrajectorySegment::SplineState &state)
	Stream operator for testing and debugging. More...
std::ostream &	operator<< (std::ostream &out, const CartesianState &state)

Typedef Documentation

QuinticSplineSegment

using ros_controllers_cartesian::QuinticSplineSegment = typedef trajectory_interface::QuinticSplineSegment<double>

7-dimensional quintic spline segment

This two-point segment is uniquely defined by its start and end ros_controllers_cartesian::SplineState.

Definition at line 41 of file cartesian_trajectory_segment.h.

SplineState

using ros_controllers_cartesian::SplineState = typedef CartesianTrajectorySegment::SplineState

Definition at line 39 of file cartesian_trajectory_segment.cpp.

Time

using ros_controllers_cartesian::Time = typedef CartesianTrajectorySegment::Time

Definition at line 38 of file cartesian_trajectory_segment.cpp.

Function Documentation

convert() [1/2]

SplineState ros_controllers_cartesian::convert

(

const CartesianState &

state

)

Convert a CartesianState into a ros_controllers_cartesian::SplineState.

The computation of quaternion velocities and accelerations from Cartesian angular velocities and accelerations is based on this blog post and on this article.

Note

SplineState has the velocities and accelerations given in the body-local reference frame that is implicitly defined by state's pose.

By default, all-zero velocities and accelerations are interpreted as intended boundary conditions. If used together with Cartesian trajectory execution, this will yield smooth stops in the trajectory's waypoints (= cubic interpolation with zero velocity/acceleration boundary conditions). If users want linear interpolation, they should mark the velocities/accelerations as unspecified by setting at least one of the field values to NaN, e.g. state.v.x() = std::nan("0");

Parameters

state

The CartesianState to convert

Returns

The content of state in ros_controllers_cartesian::SplineState notation

Definition at line 67 of file cartesian_trajectory_segment.cpp.

convert() [2/2]

CartesianState ros_controllers_cartesian::convert

(

const CartesianTrajectorySegment::SplineState &

state

)

Convert a ros_controllers_cartesian::SplineState into a CartesianState.

The computation of Cartesian angular velocities and accelerations from quaternion velocities and accelerations is based on this blog post. and on this article.

Parameters

state

The SplineState to convert

Returns

The content of state in CartesianState notation

Definition at line 123 of file cartesian_trajectory_segment.cpp.

operator<<() [1/2]

std::ostream & ros_controllers_cartesian::operator<<	(	std::ostream &	os,
		const CartesianTrajectorySegment::SplineState &	state
	)

Stream operator for testing and debugging.

Parameters

os	The output stream
state	The SplineState

Returns

Reference to the stream for chaining

Definition at line 180 of file cartesian_trajectory_segment.cpp.

operator<<() [2/2]

std::ostream& ros_controllers_cartesian::operator<<	(	std::ostream &	out,
		const CartesianState &	state
	)

Parameters

os	The output stream
state	The CartesianState

Returns

Reference to the stream for chaining

Definition at line 113 of file cartesian_state.cpp.