#include <TreeIkTrajectory.h>
Public Member Functions | |
| virtual void | getPose (double time, KDL::JntArrayAcc &pose) |
| getPose get pose at a particular time | |
| void | setCartesianTrajectory (boost::shared_ptr< SynchedCartesianTrajectory > traj_in) |
| void | setInitialJoints (const KDL::JntArrayAcc &joints_in) |
| void | setNodeNames (const std::vector< std::string > &nodeNames_in) |
| void | setNodePriorities (const std::vector< KdlTreeIk::NodePriority > &nodePriorities_in) |
| void | setTreeIk (boost::shared_ptr< KdlTreeIk > treeIk_in) |
| TreeIkTrajectory () | |
| virtual | ~TreeIkTrajectory () |
Protected Attributes | |
| KDL::JntArrayAcc | jointsInit |
| KDL::JntArrayAcc | jointsLast |
| double | lastTime |
| std::vector< KDL::Frame > | nodeFrames |
| std::vector< KDL::FrameAcc > | nodeFramesAcc |
| std::vector< std::string > | nodeNames |
| std::vector < KdlTreeIk::NodePriority > | nodePriorities |
| boost::shared_ptr < SynchedCartesianTrajectory > | trajectory |
| boost::shared_ptr< KdlTreeIk > | treeIk |
Detailed Description
Definition at line 14 of file TreeIkTrajectory.h.
Constructor & Destructor Documentation
Definition at line 4 of file TreeIkTrajectory.cpp.
| virtual TreeIkTrajectory::~TreeIkTrajectory | ( | ) | [inline, virtual] |
Definition at line 18 of file TreeIkTrajectory.h.
Member Function Documentation
| void TreeIkTrajectory::getPose | ( | double | time, |
| KDL::JntArrayAcc & | pose | ||
| ) | [virtual] |
getPose get pose at a particular time
- Parameters:
-
time time along trajectory (0 - getDuration()) stepPose pose corresponding to the time
each step in a joint trajectory contains the position, velocity, and acceleration
Reimplemented in ForceTrajectory.
Definition at line 10 of file TreeIkTrajectory.cpp.
| void TreeIkTrajectory::setCartesianTrajectory | ( | boost::shared_ptr< SynchedCartesianTrajectory > | traj_in | ) | [inline] |
Definition at line 20 of file TreeIkTrajectory.h.
| void TreeIkTrajectory::setInitialJoints | ( | const KDL::JntArrayAcc & | joints_in | ) | [inline] |
Definition at line 31 of file TreeIkTrajectory.h.
| void TreeIkTrajectory::setNodeNames | ( | const std::vector< std::string > & | nodeNames_in | ) | [inline] |
Definition at line 36 of file TreeIkTrajectory.h.
| void TreeIkTrajectory::setNodePriorities | ( | const std::vector< KdlTreeIk::NodePriority > & | nodePriorities_in | ) | [inline] |
Definition at line 41 of file TreeIkTrajectory.h.
| void TreeIkTrajectory::setTreeIk | ( | boost::shared_ptr< KdlTreeIk > | treeIk_in | ) | [inline] |
Definition at line 26 of file TreeIkTrajectory.h.
Member Data Documentation
KDL::JntArrayAcc TreeIkTrajectory::jointsInit [protected] |
Definition at line 57 of file TreeIkTrajectory.h.
KDL::JntArrayAcc TreeIkTrajectory::jointsLast [protected] |
Definition at line 57 of file TreeIkTrajectory.h.
double TreeIkTrajectory::lastTime [protected] |
Reimplemented in ForceTrajectory.
Definition at line 58 of file TreeIkTrajectory.h.
std::vector<KDL::Frame> TreeIkTrajectory::nodeFrames [protected] |
Definition at line 61 of file TreeIkTrajectory.h.
std::vector<KDL::FrameAcc> TreeIkTrajectory::nodeFramesAcc [protected] |
Definition at line 60 of file TreeIkTrajectory.h.
std::vector<std::string> TreeIkTrajectory::nodeNames [protected] |
Definition at line 59 of file TreeIkTrajectory.h.
std::vector<KdlTreeIk::NodePriority> TreeIkTrajectory::nodePriorities [protected] |
Definition at line 62 of file TreeIkTrajectory.h.
boost::shared_ptr<SynchedCartesianTrajectory> TreeIkTrajectory::trajectory [protected] |
Definition at line 55 of file TreeIkTrajectory.h.
boost::shared_ptr<KdlTreeIk> TreeIkTrajectory::treeIk [protected] |
Definition at line 56 of file TreeIkTrajectory.h.
The documentation for this class was generated from the following files: