Public Member Functions | Protected Types | Protected Member Functions | Protected Attributes | Static Protected Attributes
RefValJS_PTP_Trajectory Class Reference

#include <RefValJS_PTP_Trajectory.h>

Inheritance diagram for RefValJS_PTP_Trajectory:
Inheritance graph
[legend]

List of all members.

Public Member Functions

std::vector< double > dr_ds (double s) const
double ds_dt (double t) const
std::vector< double > getLengthParts () const
double getTotalTime () const
std::vector< double > r (double s) const
 RefValJS_PTP_Trajectory (const trajectory_msgs::JointTrajectory &trajectory, double v_rad_s, double a_rad_s2, bool smooth=false)
double s (double t) const

Protected Types

typedef std::vector< double > vecd
typedef std::vector< double >
::const_iterator 
vecd_it

Protected Member Functions

double norm (const std::vector< double > &j)
double norm_max (const std::vector< double > &j)
double norm_sqr (const std::vector< double > &j)
double norm_weighted (const std::vector< double > &j)

Protected Attributes

double m_a_rad_s2
double m_length
vecd m_length_cumulated
vecd m_length_parts
double m_param_length
vecd m_s_parts
double m_sa1
double m_sa3
std::vector< std::vector
< double > > 
m_SplinePoints
double m_stepSize
double m_sv2
double m_T1
double m_T2
double m_T3
trajectory_msgs::JointTrajectory m_trajectory
BSplineND< std::vector< double > > m_TrajectorySpline
double m_v_rad_s

Static Protected Attributes

static const double weigths [] = { 1.5, 1.5, 1.0, 1.0, 0.8, 0.8, 0.7 }

Detailed Description

Definition at line 16 of file RefValJS_PTP_Trajectory.h.


Member Typedef Documentation

typedef std::vector<double> RefValJS_PTP_Trajectory::vecd [protected]

Definition at line 47 of file RefValJS_PTP_Trajectory.h.

typedef std::vector<double>::const_iterator RefValJS_PTP_Trajectory::vecd_it [protected]

Definition at line 48 of file RefValJS_PTP_Trajectory.h.


Constructor & Destructor Documentation

RefValJS_PTP_Trajectory::RefValJS_PTP_Trajectory ( const trajectory_msgs::JointTrajectory &  trajectory,
double  v_rad_s,
double  a_rad_s2,
bool  smooth = false 
)

Definition at line 16 of file RefValJS_PTP_Trajectory.cpp.


Member Function Documentation

std::vector< double > RefValJS_PTP_Trajectory::dr_ds ( double  s) const [virtual]

Implements RefVal_JS.

Definition at line 226 of file RefValJS_PTP_Trajectory.cpp.

double RefValJS_PTP_Trajectory::ds_dt ( double  t) const [virtual]

Implements RefVal_JS.

Definition at line 206 of file RefValJS_PTP_Trajectory.cpp.

Definition at line 38 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::getTotalTime ( ) const [inline, virtual]

Implements RefVal_JS.

Definition at line 36 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::norm ( const std::vector< double > &  j) [inline, protected]

Definition at line 77 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::norm_max ( const std::vector< double > &  j) [inline, protected]

Definition at line 83 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::norm_sqr ( const std::vector< double > &  j) [inline, protected]

Definition at line 94 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::norm_weighted ( const std::vector< double > &  j) [inline, protected]

Definition at line 104 of file RefValJS_PTP_Trajectory.h.

std::vector< double > RefValJS_PTP_Trajectory::r ( double  s) const [virtual]

Implements RefVal_JS.

Definition at line 143 of file RefValJS_PTP_Trajectory.cpp.

double RefValJS_PTP_Trajectory::s ( double  t) const [virtual]

Implements RefVal_JS.

Definition at line 187 of file RefValJS_PTP_Trajectory.cpp.


Member Data Documentation

Definition at line 62 of file RefValJS_PTP_Trajectory.h.

Definition at line 58 of file RefValJS_PTP_Trajectory.h.

Definition at line 50 of file RefValJS_PTP_Trajectory.h.

Definition at line 49 of file RefValJS_PTP_Trajectory.h.

Definition at line 59 of file RefValJS_PTP_Trajectory.h.

Definition at line 51 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::m_sa1 [protected]

Definition at line 68 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::m_sa3 [protected]

Definition at line 70 of file RefValJS_PTP_Trajectory.h.

Definition at line 54 of file RefValJS_PTP_Trajectory.h.

Definition at line 57 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::m_sv2 [protected]

Definition at line 69 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::m_T1 [protected]

Definition at line 64 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::m_T2 [protected]

Definition at line 65 of file RefValJS_PTP_Trajectory.h.

double RefValJS_PTP_Trajectory::m_T3 [protected]

Definition at line 66 of file RefValJS_PTP_Trajectory.h.

trajectory_msgs::JointTrajectory RefValJS_PTP_Trajectory::m_trajectory [protected]

Definition at line 45 of file RefValJS_PTP_Trajectory.h.

Definition at line 53 of file RefValJS_PTP_Trajectory.h.

Definition at line 61 of file RefValJS_PTP_Trajectory.h.

const double RefValJS_PTP_Trajectory::weigths = { 1.5, 1.5, 1.0, 1.0, 0.8, 0.8, 0.7 } [static, protected]

Definition at line 72 of file RefValJS_PTP_Trajectory.h.


The documentation for this class was generated from the following files:
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cob_trajectory_controller
Author(s): Alexander Bubeck
autogenerated on Fri Mar 1 2013 17:49:16