Public Member Functions | Private Member Functions | Private Attributes | List of all members
chomp::ChompTrajectory Class Reference

Represents a discretized joint-space trajectory for CHOMP. More...

#include <chomp_trajectory.h>

Public Member Functions

void assignCHOMPTrajectoryPointFromInputTrajectoryPoint (moveit_msgs::RobotTrajectory trajectory_msg, int num_joints_trajectory, int trajectory_msgs_point, int chomp_trajectory_point)
 
 ChompTrajectory (const moveit::core::RobotModelConstPtr &robot_model, double duration, double discretization, std::string groupName)
 Constructs a trajectory for a given robot model, trajectory duration, and discretization. More...
 
 ChompTrajectory (const moveit::core::RobotModelConstPtr &robot_model, int num_points, double discretization, std::string groupName)
 Constructs a trajectory for a given robot model, number of trajectory points, and discretization. More...
 
 ChompTrajectory (const ChompTrajectory &source_traj, const std::string &planning_group, int diff_rule_length)
 Creates a new containing only the joints of interest, and adds padding to the start and end if needed, to have enough trajectory points for the differentiation rules. More...
 
 ChompTrajectory (const moveit::core::RobotModelConstPtr &robot_model, const std::string &planning_group, const trajectory_msgs::JointTrajectory &traj)
 
void fillInCubicInterpolation ()
 Generates a cubic interpolation of the trajectory from the start index to end index. More...
 
bool fillInFromTrajectory (moveit_msgs::MotionPlanDetailedResponse &res)
 Receives the path obtained from a given MotionPlanDetailedResponse res object's trajectory (e.g., trajectory produced by OMPL) and puts it into the appropriate trajectory format required for CHOMP. More...
 
void fillInLinearInterpolation ()
 Generates a linearly interpolated trajectory from the start index to end index. More...
 
void fillInMinJerk ()
 Generates a minimum jerk trajectory from the start index to end index. More...
 
double getDiscretization () const
 Gets the discretization time interval of the trajectory. More...
 
double getDuration () const
 
int getEndIndex () const
 Gets the end index. More...
 
Eigen::Block< Eigen::MatrixXd, Eigen::Dynamic, Eigen::Dynamic > getFreeJointTrajectoryBlock (int joint)
 Gets the block of free (optimizable) trajectory for a single joint. More...
 
Eigen::Block< Eigen::MatrixXd, Eigen::Dynamic, Eigen::Dynamic > getFreeTrajectoryBlock ()
 Gets the block of the trajectory which can be optimized. More...
 
int getFullTrajectoryIndex (int i) const
 Gets the index in the full trajectory which was copied to this group trajectory. More...
 
Eigen::MatrixXd::ColXpr getJointTrajectory (int joint)
 
template<typename Derived >
void getJointVelocities (int traj_point, Eigen::MatrixBase< Derived > &velocities)
 Gets the joint velocities at the given trajectory point. More...
 
int getNumFreePoints () const
 Gets the number of points (that are free to be optimized) in the trajectory. More...
 
int getNumJoints () const
 Gets the number of joints in each trajectory point. More...
 
int getNumPoints () const
 Gets the number of points in the trajectory. More...
 
int getStartIndex () const
 Gets the start index. More...
 
Eigen::MatrixXd & getTrajectory ()
 Gets the entire trajectory matrix. More...
 
Eigen::MatrixXd::RowXpr getTrajectoryPoint (int traj_point)
 
double & operator() (int traj_point, int joint)
 
double operator() (int traj_point, int joint) const
 
void overwriteTrajectory (const trajectory_msgs::JointTrajectory &traj)
 
void setStartEndIndex (int start_index, int end_index)
 Sets the start and end index for the modifiable part of the trajectory. More...
 
void updateFromGroupTrajectory (const ChompTrajectory &group_trajectory)
 Updates the full trajectory (*this) from the group trajectory. More...
 
virtual ~ChompTrajectory ()
 Destructor. More...
 

Private Member Functions

void init ()
 Allocates memory for the trajectory. More...
 

Private Attributes

double discretization_
 
double duration_
 
int end_index_
 
std::vector< int > full_trajectory_index_
 
int num_joints_
 
int num_points_
 
std::string planning_group_name_
 
int start_index_
 
Eigen::MatrixXd trajectory_
 

Detailed Description

Represents a discretized joint-space trajectory for CHOMP.

Definition at line 55 of file chomp_trajectory.h.

Constructor & Destructor Documentation

chomp::ChompTrajectory::ChompTrajectory ( const moveit::core::RobotModelConstPtr &  robot_model,
double  duration,
double  discretization,
std::string  groupName 
)

Constructs a trajectory for a given robot model, trajectory duration, and discretization.

Definition at line 43 of file chomp_trajectory.cpp.

chomp::ChompTrajectory::ChompTrajectory ( const moveit::core::RobotModelConstPtr &  robot_model,
int  num_points,
double  discretization,
std::string  groupName 
)

Constructs a trajectory for a given robot model, number of trajectory points, and discretization.

Definition at line 57 of file chomp_trajectory.cpp.

chomp::ChompTrajectory::ChompTrajectory ( const ChompTrajectory source_traj,
const std::string &  planning_group,
int  diff_rule_length 
)

Creates a new containing only the joints of interest, and adds padding to the start and end if needed, to have enough trajectory points for the differentiation rules.

Definition at line 71 of file chomp_trajectory.cpp.

chomp::ChompTrajectory::ChompTrajectory ( const moveit::core::RobotModelConstPtr &  robot_model,
const std::string &  planning_group,
const trajectory_msgs::JointTrajectory &  traj 
)

Definition at line 108 of file chomp_trajectory.cpp.

chomp::ChompTrajectory::~ChompTrajectory ( )
virtual

Destructor.

Definition at line 142 of file chomp_trajectory.cpp.

Member Function Documentation

void chomp::ChompTrajectory::assignCHOMPTrajectoryPointFromInputTrajectoryPoint ( moveit_msgs::RobotTrajectory  trajectory_msg,
int  num_joints_trajectory,
int  trajectory_msgs_point,
int  chomp_trajectory_point 
)

This function assigns the chomp_trajectory row / robot pose at index 'chomp_trajectory_point' obtained from input trajectory_msgs at index 'trajectory_msgs_point'

Parameters
trajectory_msgthe input trajectory_msg
num_joints_trajectorynumber of joints in the given robot trajectory
trajectory_msgs_pointindex of the input trajectory_msg's point to get joint values from
chomp_trajectory_pointindex of the chomp_trajectory's point to get joint values from

Definition at line 313 of file chomp_trajectory.cpp.

void chomp::ChompTrajectory::fillInCubicInterpolation ( )

Generates a cubic interpolation of the trajectory from the start index to end index.

Only modifies points from start_index_ to end_index_, inclusive

Definition at line 187 of file chomp_trajectory.cpp.

bool chomp::ChompTrajectory::fillInFromTrajectory ( moveit_msgs::MotionPlanDetailedResponse &  res)

Receives the path obtained from a given MotionPlanDetailedResponse res object's trajectory (e.g., trajectory produced by OMPL) and puts it into the appropriate trajectory format required for CHOMP.

Parameters
res

Definition at line 255 of file chomp_trajectory.cpp.

void chomp::ChompTrajectory::fillInLinearInterpolation ( )

Generates a linearly interpolated trajectory from the start index to end index.

Only modifies points from start_index_ to end_index_, inclusive

Definition at line 173 of file chomp_trajectory.cpp.

void chomp::ChompTrajectory::fillInMinJerk ( )

Generates a minimum jerk trajectory from the start index to end index.

Only modifies points from start_index_ to end_index_, inclusive.

Definition at line 209 of file chomp_trajectory.cpp.

double chomp::ChompTrajectory::getDiscretization ( ) const
inline

Gets the discretization time interval of the trajectory.

Definition at line 259 of file chomp_trajectory.h.

double chomp::ChompTrajectory::getDuration ( ) const
inline

Definition at line 313 of file chomp_trajectory.h.

int chomp::ChompTrajectory::getEndIndex ( ) const
inline

Gets the end index.

Definition at line 275 of file chomp_trajectory.h.

Eigen::Block< Eigen::MatrixXd, Eigen::Dynamic, Eigen::Dynamic > chomp::ChompTrajectory::getFreeJointTrajectoryBlock ( int  joint)
inline

Gets the block of free (optimizable) trajectory for a single joint.

Definition at line 291 of file chomp_trajectory.h.

Eigen::Block< Eigen::MatrixXd, Eigen::Dynamic, Eigen::Dynamic > chomp::ChompTrajectory::getFreeTrajectoryBlock ( )
inline

Gets the block of the trajectory which can be optimized.

Definition at line 285 of file chomp_trajectory.h.

int chomp::ChompTrajectory::getFullTrajectoryIndex ( int  i) const
inline

Gets the index in the full trajectory which was copied to this group trajectory.

Definition at line 296 of file chomp_trajectory.h.

Eigen::MatrixXd::ColXpr chomp::ChompTrajectory::getJointTrajectory ( int  joint)
inline

Definition at line 239 of file chomp_trajectory.h.

template<typename Derived >
void chomp::ChompTrajectory::getJointVelocities ( int  traj_point,
Eigen::MatrixBase< Derived > &  velocities 
)

Gets the joint velocities at the given trajectory point.

Definition at line 302 of file chomp_trajectory.h.

int chomp::ChompTrajectory::getNumFreePoints ( ) const
inline

Gets the number of points (that are free to be optimized) in the trajectory.

Definition at line 249 of file chomp_trajectory.h.

int chomp::ChompTrajectory::getNumJoints ( ) const
inline

Gets the number of joints in each trajectory point.

Definition at line 254 of file chomp_trajectory.h.

int chomp::ChompTrajectory::getNumPoints ( ) const
inline

Gets the number of points in the trajectory.

Definition at line 244 of file chomp_trajectory.h.

int chomp::ChompTrajectory::getStartIndex ( ) const
inline

Gets the start index.

Definition at line 270 of file chomp_trajectory.h.

Eigen::MatrixXd & chomp::ChompTrajectory::getTrajectory ( )
inline

Gets the entire trajectory matrix.

Definition at line 280 of file chomp_trajectory.h.

Eigen::MatrixXd::RowXpr chomp::ChompTrajectory::getTrajectoryPoint ( int  traj_point)
inline

Definition at line 234 of file chomp_trajectory.h.

void chomp::ChompTrajectory::init ( )
private

Allocates memory for the trajectory.

Definition at line 157 of file chomp_trajectory.cpp.

double & chomp::ChompTrajectory::operator() ( int  traj_point,
int  joint 
)
inline

Definition at line 224 of file chomp_trajectory.h.

double chomp::ChompTrajectory::operator() ( int  traj_point,
int  joint 
) const
inline

Definition at line 229 of file chomp_trajectory.h.

void chomp::ChompTrajectory::overwriteTrajectory ( const trajectory_msgs::JointTrajectory &  traj)

Definition at line 146 of file chomp_trajectory.cpp.

void chomp::ChompTrajectory::setStartEndIndex ( int  start_index,
int  end_index 
)
inline

Sets the start and end index for the modifiable part of the trajectory.

(Everything before the start and after the end index is considered fixed) The values default to 1 and getNumPoints()-2

Definition at line 264 of file chomp_trajectory.h.

void chomp::ChompTrajectory::updateFromGroupTrajectory ( const ChompTrajectory group_trajectory)

Updates the full trajectory (*this) from the group trajectory.

Definition at line 163 of file chomp_trajectory.cpp.

Member Data Documentation

double chomp::ChompTrajectory::discretization_
private

Discretization of the trajectory

Definition at line 211 of file chomp_trajectory.h.

double chomp::ChompTrajectory::duration_
private

Duration of the trajectory

Definition at line 212 of file chomp_trajectory.h.

int chomp::ChompTrajectory::end_index_
private

End index (inclusive) of trajectory to be optimized (everything after it will not be modified)

Definition at line 216 of file chomp_trajectory.h.

std::vector<int> chomp::ChompTrajectory::full_trajectory_index_
private

If this is a "group" trajectory, the index from the original traj which each element here was copied

Definition at line 217 of file chomp_trajectory.h.

int chomp::ChompTrajectory::num_joints_
private

Number of joints in each trajectory point

Definition at line 210 of file chomp_trajectory.h.

int chomp::ChompTrajectory::num_points_
private

Number of points in the trajectory

Definition at line 209 of file chomp_trajectory.h.

std::string chomp::ChompTrajectory::planning_group_name_
private

Planning group that this trajectory corresponds to, if any

Definition at line 208 of file chomp_trajectory.h.

int chomp::ChompTrajectory::start_index_
private

Start index (inclusive) of trajectory to be optimized (everything before it will not be modified)

Definition at line 214 of file chomp_trajectory.h.

Eigen::MatrixXd chomp::ChompTrajectory::trajectory_
private

Storage for the actual trajectory

Definition at line 213 of file chomp_trajectory.h.


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


chomp_motion_planner
Author(s): Gil Jones , Mrinal Kalakrishnan
autogenerated on Wed Jul 10 2019 04:03:20