Public Member Functions | Private Member Functions | Private Attributes
chomp::ChompTrajectory Class Reference

Represents a discretized joint-space trajectory for CHOMP. More...

#include <chomp_trajectory.h>

List of all members.

Public Member Functions

 ChompTrajectory (const moveit::core::RobotModelConstPtr &robot_model, double duration, double discretization, std::string groupName)
 Constructs a trajectory for a given robot model, trajectory duration, and discretization.
 ChompTrajectory (const moveit::core::RobotModelConstPtr &robot_model, int num_points, double discretization, std::string groupName)
 Constructs a trajectory for a given robot model, number of trajectory points, and discretization.
 ChompTrajectory (const ChompTrajectory &source_traj, const std::string &planning_group, int diff_rule_length)
 Creates a new containing only the joints of interest, and adds padding to the start and end if needed, to have enough trajectory points for the differentiation rules.
 ChompTrajectory (const moveit::core::RobotModelConstPtr &robot_model, const std::string &planning_group, const trajectory_msgs::JointTrajectory &traj)
void fillInMinJerk ()
 Generates a minimum jerk trajectory from the start index to end index.
double getDiscretization () const
 Gets the discretization time interval of the trajectory.
double getDuration () const
int getEndIndex () const
 Gets the end index.
Eigen::Block< Eigen::MatrixXd,
Eigen::Dynamic, Eigen::Dynamic > 
getFreeJointTrajectoryBlock (int joint)
 Gets the block of free (optimizable) trajectory for a single joint.
Eigen::Block< Eigen::MatrixXd,
Eigen::Dynamic, Eigen::Dynamic > 
getFreeTrajectoryBlock ()
 Gets the block of the trajectory which can be optimized.
int getFullTrajectoryIndex (int i) const
 Gets the index in the full trajectory which was copied to this group trajectory.
Eigen::MatrixXd::ColXpr getJointTrajectory (int joint)
template<typename Derived >
void getJointVelocities (int traj_point, Eigen::MatrixBase< Derived > &velocities)
 Gets the joint velocities at the given trajectory point.
int getNumFreePoints () const
 Gets the number of points (that are free to be optimized) in the trajectory.
int getNumJoints () const
 Gets the number of joints in each trajectory point.
int getNumPoints () const
 Gets the number of points in the trajectory.
int getStartIndex () const
 Gets the start index.
Eigen::MatrixXd & getTrajectory ()
 Gets the entire trajectory matrix.
Eigen::MatrixXd::RowXpr getTrajectoryPoint (int traj_point)
double & operator() (int traj_point, int joint)
double operator() (int traj_point, int joint) const
void overwriteTrajectory (const trajectory_msgs::JointTrajectory &traj)
void setStartEndIndex (int start_index, int end_index)
 Sets the start and end index for the modifiable part of the trajectory.
void updateFromGroupTrajectory (const ChompTrajectory &group_trajectory)
 Updates the full trajectory (*this) from the group trajectory.
virtual ~ChompTrajectory ()
 Destructor.

Private Member Functions

void init ()
 Allocates memory for the trajectory.

Private Attributes

double discretization_
double duration_
int end_index_
std::vector< int > full_trajectory_index_
int num_joints_
int num_points_
std::string planning_group_name_
int start_index_
Eigen::MatrixXd trajectory_

Detailed Description

Represents a discretized joint-space trajectory for CHOMP.

Definition at line 52 of file chomp_trajectory.h.


Constructor & Destructor Documentation

chomp::ChompTrajectory::ChompTrajectory ( const moveit::core::RobotModelConstPtr &  robot_model,
double  duration,
double  discretization,
std::string  groupName 
)

Constructs a trajectory for a given robot model, trajectory duration, and discretization.

Definition at line 43 of file chomp_trajectory.cpp.

chomp::ChompTrajectory::ChompTrajectory ( const moveit::core::RobotModelConstPtr &  robot_model,
int  num_points,
double  discretization,
std::string  groupName 
)

Constructs a trajectory for a given robot model, number of trajectory points, and discretization.

Definition at line 57 of file chomp_trajectory.cpp.

chomp::ChompTrajectory::ChompTrajectory ( const ChompTrajectory source_traj,
const std::string &  planning_group,
int  diff_rule_length 
)

Creates a new containing only the joints of interest, and adds padding to the start and end if needed, to have enough trajectory points for the differentiation rules.

Definition at line 71 of file chomp_trajectory.cpp.

chomp::ChompTrajectory::ChompTrajectory ( const moveit::core::RobotModelConstPtr &  robot_model,
const std::string &  planning_group,
const trajectory_msgs::JointTrajectory &  traj 
)

Definition at line 108 of file chomp_trajectory.cpp.

Destructor.

Definition at line 142 of file chomp_trajectory.cpp.


Member Function Documentation

Generates a minimum jerk trajectory from the start index to end index.

Only modifies points from start_index_ to end_index_, inclusive.

Definition at line 173 of file chomp_trajectory.cpp.

double chomp::ChompTrajectory::getDiscretization ( ) const [inline]

Gets the discretization time interval of the trajectory.

Definition at line 223 of file chomp_trajectory.h.

double chomp::ChompTrajectory::getDuration ( ) const [inline]

Definition at line 277 of file chomp_trajectory.h.

int chomp::ChompTrajectory::getEndIndex ( ) const [inline]

Gets the end index.

Definition at line 239 of file chomp_trajectory.h.

Eigen::Block< Eigen::MatrixXd, Eigen::Dynamic, Eigen::Dynamic > chomp::ChompTrajectory::getFreeJointTrajectoryBlock ( int  joint) [inline]

Gets the block of free (optimizable) trajectory for a single joint.

Definition at line 255 of file chomp_trajectory.h.

Eigen::Block< Eigen::MatrixXd, Eigen::Dynamic, Eigen::Dynamic > chomp::ChompTrajectory::getFreeTrajectoryBlock ( ) [inline]

Gets the block of the trajectory which can be optimized.

Definition at line 249 of file chomp_trajectory.h.

int chomp::ChompTrajectory::getFullTrajectoryIndex ( int  i) const [inline]

Gets the index in the full trajectory which was copied to this group trajectory.

Definition at line 260 of file chomp_trajectory.h.

Eigen::MatrixXd::ColXpr chomp::ChompTrajectory::getJointTrajectory ( int  joint) [inline]

Definition at line 203 of file chomp_trajectory.h.

template<typename Derived >
void chomp::ChompTrajectory::getJointVelocities ( int  traj_point,
Eigen::MatrixBase< Derived > &  velocities 
)

Gets the joint velocities at the given trajectory point.

Definition at line 266 of file chomp_trajectory.h.

Gets the number of points (that are free to be optimized) in the trajectory.

Definition at line 213 of file chomp_trajectory.h.

int chomp::ChompTrajectory::getNumJoints ( ) const [inline]

Gets the number of joints in each trajectory point.

Definition at line 218 of file chomp_trajectory.h.

int chomp::ChompTrajectory::getNumPoints ( ) const [inline]

Gets the number of points in the trajectory.

Definition at line 208 of file chomp_trajectory.h.

int chomp::ChompTrajectory::getStartIndex ( ) const [inline]

Gets the start index.

Definition at line 234 of file chomp_trajectory.h.

Eigen::MatrixXd & chomp::ChompTrajectory::getTrajectory ( ) [inline]

Gets the entire trajectory matrix.

Definition at line 244 of file chomp_trajectory.h.

Eigen::MatrixXd::RowXpr chomp::ChompTrajectory::getTrajectoryPoint ( int  traj_point) [inline]

Definition at line 198 of file chomp_trajectory.h.

void chomp::ChompTrajectory::init ( ) [private]

Allocates memory for the trajectory.

Definition at line 157 of file chomp_trajectory.cpp.

double & chomp::ChompTrajectory::operator() ( int  traj_point,
int  joint 
) [inline]

Definition at line 188 of file chomp_trajectory.h.

double chomp::ChompTrajectory::operator() ( int  traj_point,
int  joint 
) const [inline]

Definition at line 193 of file chomp_trajectory.h.

void chomp::ChompTrajectory::overwriteTrajectory ( const trajectory_msgs::JointTrajectory &  traj)

Definition at line 146 of file chomp_trajectory.cpp.

void chomp::ChompTrajectory::setStartEndIndex ( int  start_index,
int  end_index 
) [inline]

Sets the start and end index for the modifiable part of the trajectory.

(Everything before the start and after the end index is considered fixed) The values default to 1 and getNumPoints()-2

Definition at line 228 of file chomp_trajectory.h.

Updates the full trajectory (*this) from the group trajectory.

Definition at line 163 of file chomp_trajectory.cpp.


Member Data Documentation

Discretization of the trajectory

Definition at line 175 of file chomp_trajectory.h.

Duration of the trajectory

Definition at line 176 of file chomp_trajectory.h.

End index (inclusive) of trajectory to be optimized (everything after it will not be modified)

Definition at line 180 of file chomp_trajectory.h.

If this is a "group" trajectory, the index from the original traj which each element here was copied

Definition at line 181 of file chomp_trajectory.h.

Number of joints in each trajectory point

Definition at line 174 of file chomp_trajectory.h.

Number of points in the trajectory

Definition at line 173 of file chomp_trajectory.h.

Planning group that this trajectory corresponds to, if any

Definition at line 172 of file chomp_trajectory.h.

Start index (inclusive) of trajectory to be optimized (everything before it will not be modified)

Definition at line 178 of file chomp_trajectory.h.

Eigen::MatrixXd chomp::ChompTrajectory::trajectory_ [private]

Storage for the actual trajectory

Definition at line 177 of file chomp_trajectory.h.


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


chomp_motion_planner
Author(s): Gil Jones , Mrinal Kalakrishnan
autogenerated on Wed Jun 19 2019 19:24:07