Enables the ability to play a trajectory provided by the set program. More...

#include <trajectory_player.h>

Public Member Functions
double	currentDuration () const
	Get the current duration populated by the last call to getNext() More...

void	enableLoop (bool loop)
	Enable looping playback of the trajectory. More...

tesseract_common::JointState	getByIndex (long index) const
	Get move instruction by index. More...

tesseract_common::JointState	getNext ()
	Get the next move instruction from the player. More...

bool	isFinished () const
	Check if the player has the reached the end of the trajectory. More...

bool	isLoopEnabled () const
	Get if looping playback is enabled. More...

TrajectoryPlayer &	operator= (const TrajectoryPlayer &)=delete

TrajectoryPlayer &	operator= (TrajectoryPlayer &&)=default

void	reset ()
	Reset the state of the trajectory player. More...

tesseract_common::JointState	setCurrentDuration (double duration)
	Set the current time for the player by duration. More...

tesseract_common::JointState	setCurrentDurationByIndex (long index)
	Set the current time for the player by index of the input trajectoy. More...

void	setScale (double scale)
	Set the scale factor for the play back of the trajectory. More...

void	setTrajectory (const tesseract_common::JointTrajectory &trajectory)
	Set the the trajectory for the trajectory player. More...

long	size () const
	The size of the tajectory. More...

double	trajectoryDurationBegin () const
	Get the trajectory duration at the begin state. More...

double	trajectoryDurationEnd () const
	Get the trajectory duration at the end state. More...

	TrajectoryPlayer ()

	TrajectoryPlayer (const TrajectoryPlayer &)=delete

	TrajectoryPlayer (TrajectoryPlayer &&)=default

	~TrajectoryPlayer ()

Private Attributes
double	current_duration_ { 0 }

bool	finished_ { false }

bool	loop_ { false }

double	scale_ { 1 }

std::chrono::time_point< std::chrono::high_resolution_clock >	start_time_

std::unique_ptr< TrajectoryInterpolator >	trajectory_ { nullptr }

double	trajectory_duration_end_ { 0 }

double	trajectory_duration_start_ { 0 }

Detailed Description

Enables the ability to play a trajectory provided by the set program.

Definition at line 42 of file trajectory_player.h.

Constructor & Destructor Documentation

◆ TrajectoryPlayer() [1/3]

tesseract_visualization::TrajectoryPlayer::TrajectoryPlayer ( )

default

◆ ~TrajectoryPlayer()

tesseract_visualization::TrajectoryPlayer::~TrajectoryPlayer ( )

default

◆ TrajectoryPlayer() [2/3]

tesseract_visualization::TrajectoryPlayer::TrajectoryPlayer ( const TrajectoryPlayer & )

delete

◆ TrajectoryPlayer() [3/3]

tesseract_visualization::TrajectoryPlayer::TrajectoryPlayer ( TrajectoryPlayer && )

default

Member Function Documentation

◆ currentDuration()

double tesseract_visualization::TrajectoryPlayer::currentDuration ( ) const

Get the current duration populated by the last call to getNext()

Returns: The current duration

Definition at line 132 of file trajectory_player.cpp.

◆ enableLoop()

void tesseract_visualization::TrajectoryPlayer::enableLoop ( bool loop )

Enable looping playback of the trajectory.

Parameters

loop	True to enable looping play, otherwise single playback.

Definition at line 140 of file trajectory_player.cpp.

◆ getByIndex()

tesseract_common::JointState tesseract_visualization::TrajectoryPlayer::getByIndex ( long index ) const

Get move instruction by index.

Parameters

index The index of the input program to extract the move instruction from

Returns: The move instruction at the input index

Definition at line 127 of file trajectory_player.cpp.

◆ getNext()

tesseract_common::JointState tesseract_visualization::TrajectoryPlayer::getNext ( )

Get the next move instruction from the player.

Returns: The move instruction at the next time interval

Definition at line 100 of file trajectory_player.cpp.

◆ isFinished()

bool tesseract_visualization::TrajectoryPlayer::isFinished ( ) const

Check if the player has the reached the end of the trajectory.

Returns: True if end has been reached, otherwise false.

Definition at line 138 of file trajectory_player.cpp.

◆ isLoopEnabled()

bool tesseract_visualization::TrajectoryPlayer::isLoopEnabled ( ) const

Get if looping playback is enabled.

Returns: True if looping playback is enabled otherwise false.

Definition at line 142 of file trajectory_player.cpp.

◆ operator=() [1/2]

TrajectoryPlayer& tesseract_visualization::TrajectoryPlayer::operator= ( const TrajectoryPlayer & )

delete

◆ operator=() [2/2]

TrajectoryPlayer& tesseract_visualization::TrajectoryPlayer::operator= ( TrajectoryPlayer && )

default

◆ reset()

void tesseract_visualization::TrajectoryPlayer::reset ( )

Reset the state of the trajectory player.

Definition at line 144 of file trajectory_player.cpp.

◆ setCurrentDuration()

tesseract_common::JointState tesseract_visualization::TrajectoryPlayer::setCurrentDuration ( double duration )

Set the current time for the player by duration.

Parameters

duration The duration for which to set the current time from

Returns: The trajectory state at the provided duration

Definition at line 76 of file trajectory_player.cpp.

◆ setCurrentDurationByIndex()

tesseract_common::JointState tesseract_visualization::TrajectoryPlayer::setCurrentDurationByIndex ( long index )

Set the current time for the player by index of the input trajectoy.

Parameters

index The input trajectory index for which to set the current time from

Returns: The trajectory state at the input trajectory index

Definition at line 55 of file trajectory_player.cpp.

◆ setScale()

void tesseract_visualization::TrajectoryPlayer::setScale ( double scale )

Set the scale factor for the play back of the trajectory.

Parameters

scale The scale playback of the trajectory

Definition at line 53 of file trajectory_player.cpp.

◆ setTrajectory()

void tesseract_visualization::TrajectoryPlayer::setTrajectory ( const tesseract_common::JointTrajectory & trajectory )

Set the the trajectory for the trajectory player.

Parameters

program The trajectory to play

Definition at line 40 of file trajectory_player.cpp.

◆ size()

long tesseract_visualization::TrajectoryPlayer::size ( ) const

The size of the tajectory.

Definition at line 156 of file trajectory_player.cpp.

◆ trajectoryDurationBegin()

double tesseract_visualization::TrajectoryPlayer::trajectoryDurationBegin ( ) const

Get the trajectory duration at the begin state.

Returns: The trajectory duration

Definition at line 134 of file trajectory_player.cpp.

◆ trajectoryDurationEnd()

double tesseract_visualization::TrajectoryPlayer::trajectoryDurationEnd ( ) const

Get the trajectory duration at the end state.

Returns: The trajectory duration

Definition at line 136 of file trajectory_player.cpp.

Member Data Documentation

◆ current_duration_

double tesseract_visualization::TrajectoryPlayer::current_duration_ { 0 }

private

Definition at line 137 of file trajectory_player.h.

◆ finished_

bool tesseract_visualization::TrajectoryPlayer::finished_ { false }

private

Definition at line 140 of file trajectory_player.h.

◆ loop_

bool tesseract_visualization::TrajectoryPlayer::loop_ { false }

private

Definition at line 139 of file trajectory_player.h.

◆ scale_

double tesseract_visualization::TrajectoryPlayer::scale_ { 1 }

private

Definition at line 138 of file trajectory_player.h.

◆ start_time_

std::chrono::time_point<std::chrono::high_resolution_clock> tesseract_visualization::TrajectoryPlayer::start_time_

private

Definition at line 142 of file trajectory_player.h.

◆ trajectory_

std::unique_ptr<TrajectoryInterpolator> tesseract_visualization::TrajectoryPlayer::trajectory_ { nullptr }

private

Definition at line 134 of file trajectory_player.h.

◆ trajectory_duration_end_

double tesseract_visualization::TrajectoryPlayer::trajectory_duration_end_ { 0 }

private

Definition at line 136 of file trajectory_player.h.

◆ trajectory_duration_start_

double tesseract_visualization::TrajectoryPlayer::trajectory_duration_start_ { 0 }

private

Definition at line 135 of file trajectory_player.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TrajectoryPlayer() [1/3]

◆ ~TrajectoryPlayer()

◆ TrajectoryPlayer() [2/3]

◆ TrajectoryPlayer() [3/3]

Member Function Documentation

◆ currentDuration()

◆ enableLoop()

◆ getByIndex()

◆ getNext()

◆ isFinished()

◆ isLoopEnabled()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ reset()

◆ setCurrentDuration()

◆ setCurrentDurationByIndex()

◆ setScale()

◆ setTrajectory()

◆ size()

◆ trajectoryDurationBegin()

◆ trajectoryDurationEnd()

Member Data Documentation

◆ current_duration_

◆ finished_

◆ loop_

◆ scale_

◆ start_time_

◆ trajectory_

◆ trajectory_duration_end_

◆ trajectory_duration_start_