Struct CartesianTrajectory

Defined in File types.hpp

Struct Documentation

struct CartesianTrajectory

Contains a trajectory of Cartesian configurations.

Public Functions

CartesianTrajectory() = default: Default constructor.

inline CartesianTrajectory(const std::vector<std::string> &base_frames, const std::vector<std::string> &tip_frames, const std::vector<double> &times, const std::vector<std::vector<Eigen::Matrix4d>> &tforms): Constructor.

Public Members

std::vector<std::string> base_frames: The names of the base (or reference) frames.

std::vector<std::string> tip_frames: The names of the tip (or target) frames.

std::vector<double> times: The list of times.

std::vector<std::vector<Eigen::Matrix4d>> tforms

The list of Cartesian transforms from each base frame to each tip frame.

The outer vector indexes the end-effector frame and the inner vector indexes time, so tforms[frame_idx][time_idx] is the transform for tip_frames[frame_idx] at times[time_idx]. NOTE: I’d like this to be a std::vector<std::vector<Eigen::Isometry3d>> but nanobind doesn’t have off the shelf bindings for this.

Friends

friend std::ostream &operator<<(std::ostream &os, const CartesianTrajectory &traj): Prints basic information about the trajectory.