Public Member Functions | Public Attributes | Private Attributes | List of all members
robotis_framework::MinimumJerkViaPoint Class Reference

#include <minimum_jerk_trajectory_with_via_point.h>

Public Member Functions

std::vector< double_t > getAcceleration (double time)
 
std::vector< double_t > getPosition (double time)
 
std::vector< double_t > getVelocity (double time)
 
 MinimumJerkViaPoint (double ini_time, double fin_time, double via_time, double ratio, std::vector< double_t > ini_pos, std::vector< double_t > ini_vel, std::vector< double_t > ini_acc, std::vector< double_t > fin_pos, std::vector< double_t > fin_vel, std::vector< double_t > fin_acc, std::vector< double_t > via_pos, std::vector< double_t > via_vel, std::vector< double_t > via_acc)
 
virtual ~MinimumJerkViaPoint ()
 

Public Attributes

Eigen::MatrixXd acceleration_coeff_
 
std::vector< double_t > cur_acc_
 
std::vector< double_t > cur_pos_
 
double cur_time_
 
std::vector< double_t > cur_vel_
 
Eigen::MatrixXd position_coeff_
 
Eigen::MatrixXd time_variables_
 
Eigen::MatrixXd velocity_coeff_
 

Private Attributes

std::vector< double_t > fin_acc_
 
std::vector< double_t > fin_pos_
 
double fin_time_
 
std::vector< double_t > fin_vel_
 
std::vector< double_t > ini_acc_
 
std::vector< double_t > ini_pos_
 
double ini_time_
 
std::vector< double_t > ini_vel_
 
double input_fin_time_
 
double input_ini_time_
 
int number_of_joint_
 
double ratio_
 
std::vector< double_t > via_acc_
 
std::vector< double_t > via_pos_
 
double via_time_
 
std::vector< double_t > via_vel_
 

Detailed Description

Definition at line 33 of file minimum_jerk_trajectory_with_via_point.h.

Constructor & Destructor Documentation

MinimumJerkViaPoint::MinimumJerkViaPoint ( double  ini_time,
double  fin_time,
double  via_time,
double  ratio,
std::vector< double_t >  ini_pos,
std::vector< double_t >  ini_vel,
std::vector< double_t >  ini_acc,
std::vector< double_t >  fin_pos,
std::vector< double_t >  fin_vel,
std::vector< double_t >  fin_acc,
std::vector< double_t >  via_pos,
std::vector< double_t >  via_vel,
std::vector< double_t >  via_acc 
)

Definition at line 21 of file minimum_jerk_trajectory_with_via_point.cpp.

MinimumJerkViaPoint::~MinimumJerkViaPoint ( )
virtual

Definition at line 115 of file minimum_jerk_trajectory_with_via_point.cpp.

Member Function Documentation

std::vector< double_t > MinimumJerkViaPoint::getAcceleration ( double  time)

Definition at line 182 of file minimum_jerk_trajectory_with_via_point.cpp.

std::vector< double_t > MinimumJerkViaPoint::getPosition ( double  time)

Definition at line 120 of file minimum_jerk_trajectory_with_via_point.cpp.

std::vector< double_t > MinimumJerkViaPoint::getVelocity ( double  time)

Definition at line 151 of file minimum_jerk_trajectory_with_via_point.cpp.

Member Data Documentation

Eigen::MatrixXd robotis_framework::MinimumJerkViaPoint::acceleration_coeff_

Definition at line 53 of file minimum_jerk_trajectory_with_via_point.h.

std::vector<double_t> robotis_framework::MinimumJerkViaPoint::cur_acc_

Definition at line 49 of file minimum_jerk_trajectory_with_via_point.h.

std::vector<double_t> robotis_framework::MinimumJerkViaPoint::cur_pos_

Definition at line 47 of file minimum_jerk_trajectory_with_via_point.h.

double robotis_framework::MinimumJerkViaPoint::cur_time_

Definition at line 46 of file minimum_jerk_trajectory_with_via_point.h.

std::vector<double_t> robotis_framework::MinimumJerkViaPoint::cur_vel_

Definition at line 48 of file minimum_jerk_trajectory_with_via_point.h.

std::vector<double_t> robotis_framework::MinimumJerkViaPoint::fin_acc_
private

Definition at line 62 of file minimum_jerk_trajectory_with_via_point.h.

std::vector<double_t> robotis_framework::MinimumJerkViaPoint::fin_pos_
private

Definition at line 62 of file minimum_jerk_trajectory_with_via_point.h.

double robotis_framework::MinimumJerkViaPoint::fin_time_
private

Definition at line 60 of file minimum_jerk_trajectory_with_via_point.h.

std::vector<double_t> robotis_framework::MinimumJerkViaPoint::fin_vel_
private

Definition at line 62 of file minimum_jerk_trajectory_with_via_point.h.

std::vector<double_t> robotis_framework::MinimumJerkViaPoint::ini_acc_
private

Definition at line 61 of file minimum_jerk_trajectory_with_via_point.h.

std::vector<double_t> robotis_framework::MinimumJerkViaPoint::ini_pos_
private

Definition at line 61 of file minimum_jerk_trajectory_with_via_point.h.

double robotis_framework::MinimumJerkViaPoint::ini_time_
private

Definition at line 60 of file minimum_jerk_trajectory_with_via_point.h.

std::vector<double_t> robotis_framework::MinimumJerkViaPoint::ini_vel_
private

Definition at line 61 of file minimum_jerk_trajectory_with_via_point.h.

double robotis_framework::MinimumJerkViaPoint::input_fin_time_
private

Definition at line 59 of file minimum_jerk_trajectory_with_via_point.h.

double robotis_framework::MinimumJerkViaPoint::input_ini_time_
private

Definition at line 59 of file minimum_jerk_trajectory_with_via_point.h.

int robotis_framework::MinimumJerkViaPoint::number_of_joint_
private

Definition at line 57 of file minimum_jerk_trajectory_with_via_point.h.

Eigen::MatrixXd robotis_framework::MinimumJerkViaPoint::position_coeff_

Definition at line 51 of file minimum_jerk_trajectory_with_via_point.h.

double robotis_framework::MinimumJerkViaPoint::ratio_
private

Definition at line 58 of file minimum_jerk_trajectory_with_via_point.h.

Eigen::MatrixXd robotis_framework::MinimumJerkViaPoint::time_variables_

Definition at line 54 of file minimum_jerk_trajectory_with_via_point.h.

Eigen::MatrixXd robotis_framework::MinimumJerkViaPoint::velocity_coeff_

Definition at line 52 of file minimum_jerk_trajectory_with_via_point.h.

std::vector<double_t> robotis_framework::MinimumJerkViaPoint::via_acc_
private

Definition at line 63 of file minimum_jerk_trajectory_with_via_point.h.

std::vector<double_t> robotis_framework::MinimumJerkViaPoint::via_pos_
private

Definition at line 63 of file minimum_jerk_trajectory_with_via_point.h.

double robotis_framework::MinimumJerkViaPoint::via_time_
private

Definition at line 60 of file minimum_jerk_trajectory_with_via_point.h.

std::vector<double_t> robotis_framework::MinimumJerkViaPoint::via_vel_
private

Definition at line 63 of file minimum_jerk_trajectory_with_via_point.h.


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


robotis_math
Author(s): SCH , Kayman , Jay Song
autogenerated on Fri Jul 17 2020 03:17:50