Public Member Functions | Static Public Member Functions | Private Member Functions | Static Private Member Functions | Private Attributes | List of all members
hebi::experimental::arm::Goal Class Reference

#include <goal.hpp>

Public Member Functions

const Eigen::MatrixXd & accelerations () const
 
const Eigen::MatrixXd & aux () const
 
const Eigen::MatrixXd & positions () const
 
const Eigen::VectorXd & times () const
 
const Eigen::MatrixXd & velocities () const
 

Static Public Member Functions

static Goal createFromPosition (const Eigen::VectorXd &positions)
 
static Goal createFromPosition (double time, const Eigen::VectorXd &positions)
 
static Goal createFromPositions (const Eigen::MatrixXd &positions)
 
static Goal createFromPositions (const Eigen::VectorXd &times, const Eigen::MatrixXd &positions)
 
static Goal createFromWaypoint (const Eigen::VectorXd &positions, const Eigen::VectorXd &velocities, const Eigen::VectorXd &accelerations)
 
static Goal createFromWaypoint (double time, const Eigen::VectorXd &positions, const Eigen::VectorXd &velocities, const Eigen::VectorXd &accelerations)
 
static Goal createFromWaypoints (const Eigen::MatrixXd &positions, const Eigen::MatrixXd &velocities, const Eigen::MatrixXd &accelerations)
 
static Goal createFromWaypoints (const Eigen::VectorXd &times, const Eigen::MatrixXd &positions, const Eigen::MatrixXd &velocities, const Eigen::MatrixXd &accelerations)
 
static Goal createFromWaypointsWithAux (const Eigen::MatrixXd &positions, const Eigen::MatrixXd &velocities, const Eigen::MatrixXd &accelerations, const Eigen::MatrixXd &aux)
 
static Goal createFromWaypointsWithAux (const Eigen::VectorXd &times, const Eigen::MatrixXd &positions, const Eigen::MatrixXd &velocities, const Eigen::MatrixXd &accelerations, const Eigen::MatrixXd &aux)
 
static Goal createFromWaypointWithAux (const Eigen::VectorXd &positions, const Eigen::VectorXd &velocities, const Eigen::VectorXd &accelerations, const Eigen::VectorXd &aux)
 
static Goal createFromWaypointWithAux (double time, const Eigen::VectorXd &positions, const Eigen::VectorXd &velocities, const Eigen::VectorXd &accelerations, const Eigen::VectorXd &aux)
 

Private Member Functions

 Goal (const Eigen::VectorXd &times, const Eigen::MatrixXd &positions, const Eigen::MatrixXd &velocities, const Eigen::MatrixXd &accelerations, const Eigen::MatrixXd &aux)
 

Static Private Member Functions

static Eigen::MatrixXd nanWithZeroRight (size_t num_joints, size_t num_waypoints)
 
static Eigen::MatrixXd toMatrix (const Eigen::VectorXd &vector)
 
static Eigen::VectorXd toVector (double scalar)
 

Private Attributes

const Eigen::MatrixXd accelerations_ {0, 0}
 
const Eigen::MatrixXd aux_ {0, 0}
 
const Eigen::MatrixXd positions_ {0, 0}
 
const Eigen::VectorXd times_ {0}
 
const Eigen::MatrixXd velocities_ {0, 0}
 

Detailed Description

Definition at line 16 of file goal.hpp.

Constructor & Destructor Documentation

hebi::experimental::arm::Goal::Goal ( const Eigen::VectorXd &  times,
const Eigen::MatrixXd &  positions,
const Eigen::MatrixXd &  velocities,
const Eigen::MatrixXd &  accelerations,
const Eigen::MatrixXd &  aux 
)
inlineprivate

Definition at line 168 of file goal.hpp.

Member Function Documentation

const Eigen::MatrixXd& hebi::experimental::arm::Goal::accelerations ( ) const
inline

Definition at line 163 of file goal.hpp.

const Eigen::MatrixXd& hebi::experimental::arm::Goal::aux ( ) const
inline

Definition at line 164 of file goal.hpp.

static Goal hebi::experimental::arm::Goal::createFromPosition ( const Eigen::VectorXd &  positions)
inlinestatic

Definition at line 24 of file goal.hpp.

static Goal hebi::experimental::arm::Goal::createFromPosition ( double  time,
const Eigen::VectorXd &  positions 
)
inlinestatic

Definition at line 33 of file goal.hpp.

static Goal hebi::experimental::arm::Goal::createFromPositions ( const Eigen::MatrixXd &  positions)
inlinestatic

Definition at line 94 of file goal.hpp.

static Goal hebi::experimental::arm::Goal::createFromPositions ( const Eigen::VectorXd &  times,
const Eigen::MatrixXd &  positions 
)
inlinestatic

Definition at line 103 of file goal.hpp.

static Goal hebi::experimental::arm::Goal::createFromWaypoint ( const Eigen::VectorXd &  positions,
const Eigen::VectorXd &  velocities,
const Eigen::VectorXd &  accelerations 
)
inlinestatic

Definition at line 42 of file goal.hpp.

static Goal hebi::experimental::arm::Goal::createFromWaypoint ( double  time,
const Eigen::VectorXd &  positions,
const Eigen::VectorXd &  velocities,
const Eigen::VectorXd &  accelerations 
)
inlinestatic

Definition at line 53 of file goal.hpp.

static Goal hebi::experimental::arm::Goal::createFromWaypoints ( const Eigen::MatrixXd &  positions,
const Eigen::MatrixXd &  velocities,
const Eigen::MatrixXd &  accelerations 
)
inlinestatic

Definition at line 113 of file goal.hpp.

static Goal hebi::experimental::arm::Goal::createFromWaypoints ( const Eigen::VectorXd &  times,
const Eigen::MatrixXd &  positions,
const Eigen::MatrixXd &  velocities,
const Eigen::MatrixXd &  accelerations 
)
inlinestatic

Definition at line 124 of file goal.hpp.

static Goal hebi::experimental::arm::Goal::createFromWaypointsWithAux ( const Eigen::MatrixXd &  positions,
const Eigen::MatrixXd &  velocities,
const Eigen::MatrixXd &  accelerations,
const Eigen::MatrixXd &  aux 
)
inlinestatic

Definition at line 136 of file goal.hpp.

static Goal hebi::experimental::arm::Goal::createFromWaypointsWithAux ( const Eigen::VectorXd &  times,
const Eigen::MatrixXd &  positions,
const Eigen::MatrixXd &  velocities,
const Eigen::MatrixXd &  accelerations,
const Eigen::MatrixXd &  aux 
)
inlinestatic

Definition at line 148 of file goal.hpp.

static Goal hebi::experimental::arm::Goal::createFromWaypointWithAux ( const Eigen::VectorXd &  positions,
const Eigen::VectorXd &  velocities,
const Eigen::VectorXd &  accelerations,
const Eigen::VectorXd &  aux 
)
inlinestatic

Definition at line 65 of file goal.hpp.

static Goal hebi::experimental::arm::Goal::createFromWaypointWithAux ( double  time,
const Eigen::VectorXd &  positions,
const Eigen::VectorXd &  velocities,
const Eigen::VectorXd &  accelerations,
const Eigen::VectorXd &  aux 
)
inlinestatic

Definition at line 77 of file goal.hpp.

static Eigen::MatrixXd hebi::experimental::arm::Goal::nanWithZeroRight ( size_t  num_joints,
size_t  num_waypoints 
)
inlinestaticprivate

Definition at line 180 of file goal.hpp.

const Eigen::MatrixXd& hebi::experimental::arm::Goal::positions ( ) const
inline

Definition at line 161 of file goal.hpp.

const Eigen::VectorXd& hebi::experimental::arm::Goal::times ( ) const
inline

Definition at line 160 of file goal.hpp.

static Eigen::MatrixXd hebi::experimental::arm::Goal::toMatrix ( const Eigen::VectorXd &  vector)
inlinestaticprivate

Definition at line 194 of file goal.hpp.

static Eigen::VectorXd hebi::experimental::arm::Goal::toVector ( double  scalar)
inlinestaticprivate

Definition at line 188 of file goal.hpp.

const Eigen::MatrixXd& hebi::experimental::arm::Goal::velocities ( ) const
inline

Definition at line 162 of file goal.hpp.

Member Data Documentation

const Eigen::MatrixXd hebi::experimental::arm::Goal::accelerations_ {0, 0}
private

Definition at line 203 of file goal.hpp.

const Eigen::MatrixXd hebi::experimental::arm::Goal::aux_ {0, 0}
private

Definition at line 204 of file goal.hpp.

const Eigen::MatrixXd hebi::experimental::arm::Goal::positions_ {0, 0}
private

Definition at line 201 of file goal.hpp.

const Eigen::VectorXd hebi::experimental::arm::Goal::times_ {0}
private

Definition at line 200 of file goal.hpp.

const Eigen::MatrixXd hebi::experimental::arm::Goal::velocities_ {0, 0}
private

Definition at line 202 of file goal.hpp.

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

hebi_cpp_api_ros
Author(s): Chris Bollinger , Matthew Tesch
autogenerated on Thu May 28 2020 03:14:45