Maintain a sequence of waypoints and the time durations between these waypoints. More...

#include <robot_trajectory.h>

Public Member Functions
void	addPrefixWayPoint (const robot_state::RobotState &state, double dt)

void	addPrefixWayPoint (const robot_state::RobotStatePtr &state, double dt)

void	addSuffixWayPoint (const robot_state::RobotState &state, double dt)
	Add a point to the trajectory. More...

void	addSuffixWayPoint (const robot_state::RobotStatePtr &state, double dt)
	Add a point to the trajectory. More...

void	append (const RobotTrajectory &source, double dt, size_t start_index=0, size_t end_index=std::numeric_limits< std::size_t >::max())
	Add a specified part of a trajectory to the end of the current trajectory. The default (when `start_index` and `end_index` are omitted) is to add the whole trajectory. More...

void	clear ()

bool	empty () const

void	findWayPointIndicesForDurationAfterStart (const double &duration, int &before, int &after, double &blend) const
	Finds the waypoint indicies before and after a duration from start. More...

double	getAverageSegmentDuration () const

const robot_state::RobotState &	getFirstWayPoint () const

robot_state::RobotStatePtr &	getFirstWayPointPtr ()

const robot_model::JointModelGroup *	getGroup () const

const std::string &	getGroupName () const

const robot_state::RobotState &	getLastWayPoint () const

robot_state::RobotStatePtr &	getLastWayPointPtr ()

const robot_model::RobotModelConstPtr &	getRobotModel () const

void	getRobotTrajectoryMsg (moveit_msgs::RobotTrajectory &trajectory) const

bool	getStateAtDurationFromStart (const double request_duration, robot_state::RobotStatePtr &output_state) const
	Gets a robot state corresponding to a supplied duration from start for the trajectory, using linear time interpolation. More...

const robot_state::RobotState &	getWayPoint (std::size_t index) const

std::size_t	getWayPointCount () const

double	getWayPointDurationFromPrevious (std::size_t index) const

double	getWayPointDurationFromStart (std::size_t index) const
	Returns the duration after start that a waypoint will be reached. More...

MOVEIT_DEPRECATED double	getWaypointDurationFromStart (std::size_t index) const

const std::deque< double > &	getWayPointDurations () const

robot_state::RobotStatePtr &	getWayPointPtr (std::size_t index)

void	insertWayPoint (std::size_t index, const robot_state::RobotState &state, double dt)

void	insertWayPoint (std::size_t index, const robot_state::RobotStatePtr &state, double dt)

void	reverse ()

	RobotTrajectory (const robot_model::RobotModelConstPtr &robot_model, const std::string &group)

	RobotTrajectory (const robot_model::RobotModelConstPtr &robot_model, const robot_model::JointModelGroup *group)

void	setGroupName (const std::string &group_name)

void	setRobotTrajectoryMsg (const robot_state::RobotState &reference_state, const trajectory_msgs::JointTrajectory &trajectory)
	Copy the content of the trajectory message into this class. The trajectory message itself is not required to contain the values for all joints. For this reason a full starting state must be specified as reference (reference_state). Each point in the trajectory to be constructed internally is obtained by copying the reference state and overwriting the content from a trajectory point in trajectory. More...

void	setRobotTrajectoryMsg (const robot_state::RobotState &reference_state, const moveit_msgs::RobotTrajectory &trajectory)
	Copy the content of the trajectory message into this class. The trajectory message itself is not required to contain the values for all joints. For this reason a full starting state must be specified as reference (reference_state). Each point in the trajectory to be constructed internally is obtained by copying the reference state and overwriting the content from a trajectory point in trajectory. More...

void	setRobotTrajectoryMsg (const robot_state::RobotState &reference_state, const moveit_msgs::RobotState &state, const moveit_msgs::RobotTrajectory &trajectory)
	Copy the content of the trajectory message into this class. The trajectory message itself is not required to contain the values for all joints. For this reason a full starting state must be specified as reference (reference_state). Before use, the reference state is updated using state. Each point in the trajectory to be constructed internally is obtained by copying the reference state and overwriting the content from a trajectory point in trajectory. More...

void	setWayPointDurationFromPrevious (std::size_t index, double value)

void	swap (robot_trajectory::RobotTrajectory &other)

void	unwind ()

void	unwind (const robot_state::RobotState &state)

Private Attributes
std::deque< double >	duration_from_previous_

const robot_model::JointModelGroup *	group_

robot_model::RobotModelConstPtr	robot_model_

std::deque< robot_state::RobotStatePtr >	waypoints_

Detailed Description

Maintain a sequence of waypoints and the time durations between these waypoints.

Definition at line 53 of file robot_trajectory.h.

Constructor & Destructor Documentation

robot_trajectory::RobotTrajectory::RobotTrajectory	(	const robot_model::RobotModelConstPtr &	robot_model,
		const std::string &	group
	)

Definition at line 45 of file robot_trajectory.cpp.

robot_trajectory::RobotTrajectory::RobotTrajectory	(	const robot_model::RobotModelConstPtr &	robot_model,
		const robot_model::JointModelGroup *	group
	)

Definition at line 50 of file robot_trajectory.cpp.

Member Function Documentation

void robot_trajectory::RobotTrajectory::addPrefixWayPoint	(	const robot_state::RobotState &	state,
		double	dt
	)

inline

Definition at line 164 of file robot_trajectory.h.

void robot_trajectory::RobotTrajectory::addPrefixWayPoint	(	const robot_state::RobotStatePtr &	state,
		double	dt
	)

inline

Definition at line 169 of file robot_trajectory.h.

void robot_trajectory::RobotTrajectory::addSuffixWayPoint	(	const robot_state::RobotState &	state,
		double	dt
	)

inline

Add a point to the trajectory.

Parameters

state	- current robot state
dt	- duration from previous

Definition at line 147 of file robot_trajectory.h.

void robot_trajectory::RobotTrajectory::addSuffixWayPoint	(	const robot_state::RobotStatePtr &	state,
		double	dt
	)

inline

Add a point to the trajectory.

Parameters

state	- current robot state
dt	- duration from previous

Definition at line 157 of file robot_trajectory.h.

void robot_trajectory::RobotTrajectory::append	(	const RobotTrajectory &	source,
		double	dt,
		size_t	start_index = `0`,
		size_t	end_index = `std::numeric_limits<std::size_t>::max()`
	)

Add a specified part of a trajectory to the end of the current trajectory. The default (when start_index and end_index are omitted) is to add the whole trajectory.

Parameters

source	- the trajectory containing the part to append to the end of current trajectory
dt	- time step between last traj point in current traj and first traj point of append traj
start_index	- index of first traj point of the part to append from the source traj, the default is to add from the start of the source traj
end_index	- index of last traj point of the part to append from the source traj, the default is to add until the end of the source traj

Definition at line 86 of file robot_trajectory.cpp.

void robot_trajectory::RobotTrajectory::clear ( void )

Definition at line 198 of file robot_trajectory.cpp.

bool robot_trajectory::RobotTrajectory::empty ( ) const

inline

Definition at line 137 of file robot_trajectory.h.

void robot_trajectory::RobotTrajectory::findWayPointIndicesForDurationAfterStart	(	const double &	duration,
		int &	before,
		int &	after,
		double &	blend
	)		const

Finds the waypoint indicies before and after a duration from start.

Parameters

The	duration from start.
The	waypoint index before the supplied duration.
The	waypoint index after (or equal to) the supplied duration.
The	progress (0 to 1) between the two waypoints, based on time (not based on joint distances).

Definition at line 413 of file robot_trajectory.cpp.

double robot_trajectory::RobotTrajectory::getAverageSegmentDuration ( ) const

Definition at line 69 of file robot_trajectory.cpp.

const robot_state::RobotState& robot_trajectory::RobotTrajectory::getFirstWayPoint ( ) const

inline

Definition at line 89 of file robot_trajectory.h.

robot_state::RobotStatePtr& robot_trajectory::RobotTrajectory::getFirstWayPointPtr ( )

inline

Definition at line 104 of file robot_trajectory.h.

const robot_model::JointModelGroup* robot_trajectory::RobotTrajectory::getGroup ( ) const

inline

Definition at line 65 of file robot_trajectory.h.

const std::string & robot_trajectory::RobotTrajectory::getGroupName ( ) const

Definition at line 61 of file robot_trajectory.cpp.

const robot_state::RobotState& robot_trajectory::RobotTrajectory::getLastWayPoint ( ) const

inline

Definition at line 84 of file robot_trajectory.h.

robot_state::RobotStatePtr& robot_trajectory::RobotTrajectory::getLastWayPointPtr ( )

inline

Definition at line 99 of file robot_trajectory.h.

const robot_model::RobotModelConstPtr& robot_trajectory::RobotTrajectory::getRobotModel ( ) const

inline

Definition at line 60 of file robot_trajectory.h.

void robot_trajectory::RobotTrajectory::getRobotTrajectoryMsg ( moveit_msgs::RobotTrajectory & trajectory ) const

Definition at line 204 of file robot_trajectory.cpp.

bool robot_trajectory::RobotTrajectory::getStateAtDurationFromStart	(	const double	request_duration,
		robot_state::RobotStatePtr &	output_state
	)		const

Gets a robot state corresponding to a supplied duration from start for the trajectory, using linear time interpolation.

Parameters

The	duration from start.
The	resulting robot state.

Returns: True if state is valid, false otherwise (trajectory is empty).

Definition at line 462 of file robot_trajectory.cpp.

const robot_state::RobotState& robot_trajectory::RobotTrajectory::getWayPoint ( std::size_t index ) const

inline

Definition at line 79 of file robot_trajectory.h.

std::size_t robot_trajectory::RobotTrajectory::getWayPointCount ( ) const

inline

Definition at line 74 of file robot_trajectory.h.

double robot_trajectory::RobotTrajectory::getWayPointDurationFromPrevious ( std::size_t index ) const

inline

Definition at line 122 of file robot_trajectory.h.

double robot_trajectory::RobotTrajectory::getWayPointDurationFromStart ( std::size_t index ) const

Returns the duration after start that a waypoint will be reached.

Parameters

The	waypoint index.

Returns: The duration from start; returns overall duration if index is out of range.

Definition at line 444 of file robot_trajectory.cpp.

double robot_trajectory::RobotTrajectory::getWaypointDurationFromStart ( std::size_t index ) const

Definition at line 457 of file robot_trajectory.cpp.

const std::deque<double>& robot_trajectory::RobotTrajectory::getWayPointDurations ( ) const

inline

Definition at line 109 of file robot_trajectory.h.

robot_state::RobotStatePtr& robot_trajectory::RobotTrajectory::getWayPointPtr ( std::size_t index )

inline

Definition at line 94 of file robot_trajectory.h.

void robot_trajectory::RobotTrajectory::insertWayPoint	(	std::size_t	index,
		const robot_state::RobotState &	state,
		double	dt
	)

inline

Definition at line 176 of file robot_trajectory.h.

void robot_trajectory::RobotTrajectory::insertWayPoint	(	std::size_t	index,
		const robot_state::RobotStatePtr &	state,
		double	dt
	)

inline

Definition at line 181 of file robot_trajectory.h.

void robot_trajectory::RobotTrajectory::reverse ( )

Definition at line 101 of file robot_trajectory.cpp.

void robot_trajectory::RobotTrajectory::setGroupName ( const std::string & group_name )

Definition at line 56 of file robot_trajectory.cpp.

void robot_trajectory::RobotTrajectory::setRobotTrajectoryMsg	(	const robot_state::RobotState &	reference_state,
		const trajectory_msgs::JointTrajectory &	trajectory
	)

Copy the content of the trajectory message into this class. The trajectory message itself is not required to contain the values for all joints. For this reason a full starting state must be specified as reference (reference_state). Each point in the trajectory to be constructed internally is obtained by copying the reference state and overwriting the content from a trajectory point in trajectory.

Definition at line 329 of file robot_trajectory.cpp.

void robot_trajectory::RobotTrajectory::setRobotTrajectoryMsg	(	const robot_state::RobotState &	reference_state,
		const moveit_msgs::RobotTrajectory &	trajectory
	)

Copy the content of the trajectory message into this class. The trajectory message itself is not required to contain the values for all joints. For this reason a full starting state must be specified as reference (reference_state). Each point in the trajectory to be constructed internally is obtained by copying the reference state and overwriting the content from a trajectory point in trajectory.

Definition at line 355 of file robot_trajectory.cpp.

void robot_trajectory::RobotTrajectory::setRobotTrajectoryMsg	(	const robot_state::RobotState &	reference_state,
		const moveit_msgs::RobotState &	state,
		const moveit_msgs::RobotTrajectory &	trajectory
	)

Copy the content of the trajectory message into this class. The trajectory message itself is not required to contain the values for all joints. For this reason a full starting state must be specified as reference (reference_state). Before use, the reference state is updated using state. Each point in the trajectory to be constructed internally is obtained by copying the reference state and overwriting the content from a trajectory point in trajectory.

Definition at line 404 of file robot_trajectory.cpp.

void robot_trajectory::RobotTrajectory::setWayPointDurationFromPrevious	(	std::size_t	index,
		double	value
	)

inline

Definition at line 130 of file robot_trajectory.h.

void robot_trajectory::RobotTrajectory::swap ( robot_trajectory::RobotTrajectory & other )

Definition at line 78 of file robot_trajectory.cpp.

void robot_trajectory::RobotTrajectory::unwind ( )

Definition at line 117 of file robot_trajectory.cpp.

void robot_trajectory::RobotTrajectory::unwind ( const robot_state::RobotState & state )

Definition at line 152 of file robot_trajectory.cpp.

Member Data Documentation

std::deque<double> robot_trajectory::RobotTrajectory::duration_from_previous_

private

Definition at line 263 of file robot_trajectory.h.

const robot_model::JointModelGroup* robot_trajectory::RobotTrajectory::group_

private

Definition at line 261 of file robot_trajectory.h.

robot_model::RobotModelConstPtr robot_trajectory::RobotTrajectory::robot_model_

private

Definition at line 260 of file robot_trajectory.h.

std::deque<robot_state::RobotStatePtr> robot_trajectory::RobotTrajectory::waypoints_

private

Definition at line 262 of file robot_trajectory.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation