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.

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

• minimum_jerk_trajectory_with_via_point.h
• minimum_jerk_trajectory_with_via_point.cpp