Class TrajectoryMotion

Inheritance Relationships

Base Type

Class Documentation

class TrajectoryMotion : public as2::motionReferenceHandlers::BasicMotionReferenceHandler

The TrajectoryMotion class is a motion reference handler that sends a puntual trajectory reference to the robot. The trajectory point is given by a position, a yaw angle, a velocity and a acceleration.

Public Functions

explicit TrajectoryMotion(as2::Node *node_ptr, const std::string &ns = "")

TrajectoryMotion constructor.

Parameters:

node – as2::Node pointer.

inline ~TrajectoryMotion()
bool sendTrajectoryCommandWithYawAngle(const std::string &frame_id, const double x, const double y, const double z, const double yaw_angle, const double vx, const double vy, const double vz, const double ax, const double ay, const double az)

sendTrajectoryCommandWithYawAngle sends a trajectory command to the robot.

Parameters:

  • frame_id – frame id of trayectory point.

  • x – x coordinate of the trajectory point.

  • y – y coordinate of the trajectory point.

  • z – z coordinate of the trajectory point.

  • yaw_angle – yaw angle of the trajectory point.

  • vx – x velocity of the trajectory point.

  • vy – y velocity of the trajectory point.

  • vz – z velocity of the trajectory point.

  • ax – x acceleration of the trajectory point.

  • ay – y acceleration of the trajectory point.

  • az – z acceleration of the trajectory point.

Returns:

true if the command was sent successfully, false otherwise.

bool sendTrajectoryCommandWithYawAngle(const std::string &frame_id, const double yaw_angle, const std::vector<double> &positions, const std::vector<double> &velocities, const std::vector<double> &accelerations)

sendTrajectoryCommandWithYawAngle sends a trajectory command to the robot.

Parameters:

  • frame_id – frame id of trayectory point.

  • yaw_angle – yaw angle of the trajectory point.

  • positions – vector of positions of the trajectory point (x,y,z).

  • velocities – vector of velocities of the trajectory point (vx,vy,vz).

  • accelerations – vector of accelerations of the trajectory point (ax,ay,az).

Returns:

true if the command was sent successfully, false otherwise.

bool sendTrajectoryCommandWithYawAngle(const std::string &frame_id, const double yaw_angle, const Eigen::Vector3d &positions, const Eigen::Vector3d &velocities, const Eigen::Vector3d &accelerations)

sendTrajectoryCommandWithYawAngle sends a trajectory command to the robot.

Parameters:

  • frame_id – frame id of trayectory point.

  • yaw_angle – yaw angle of the trajectory point.

  • positions – vector of positions of the trajectory point (x,y,z).

  • velocities – vector of velocities of the trajectory point (vx,vy,vz).

  • accelerations – vector of accelerations of the trajectory point (ax,ay,az).

Returns:

true if the command was sent successfully, false otherwise.