Inheritance diagram for VirtualRobot::Trajectory:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	Trajectory (RobotNodeSetPtr rns, const std::string &name="")

virtual	~Trajectory ()

const std::vector< Eigen::VectorXf > &	getPoints () const

void	addPoint (const Eigen::VectorXf &c)

Eigen::VectorXf	getPoint (unsigned int nr) const

unsigned int	getNrOfPoints () const
	return total number of trajectory points More...

bool	getPoints (unsigned int start, unsigned int end, std::vector< Eigen::VectorXf > &storePosList) const
	to retrieve entries of trajectory More...

TrajectoryPtr	clone () const

TrajectoryPtr	createSubPath (unsigned int startIndex, unsigned int endIndex) const

virtual void	reset ()
	reset all data More...

virtual void	reverse ()
	reverse position order: end becomes start More...

virtual void	erasePosition (unsigned int pos)

virtual unsigned int	removePositions (unsigned int startPos, unsigned int endPos)

virtual void	insertPosition (unsigned int pos, const Eigen::VectorXf &c)

virtual void	insertPosition (unsigned int pos, std::vector< Eigen::VectorXf > &newConfigurations)

virtual void	insertTrajectory (unsigned int pos, TrajectoryPtr trajectoryToInsert)

virtual float	getLength () const

virtual void	interpolate (float t, Eigen::VectorXf &storePos, int *storeIndex=NULL) const

unsigned int	getDimension () const

virtual void	print () const
	prints trajectory contents to console More...

const std::vector< Eigen::VectorXf > &	getData () const
	For quick access to data. More...

Eigen::VectorXf &	getPointRef (unsigned int pos)

VirtualRobot::RobotNodeSetPtr	getRobotNodeSet ()

std::vector< Eigen::Matrix4f >	createWorkspaceTrajectory (VirtualRobot::RobotNodePtr r=VirtualRobot::RobotNodePtr())

virtual std::string	toXML (int tabs=0) const

std::string	getName () const

std::string	getRobotName () const

VisualizationNodePtr	getVisualization (std::string visualizationFactoryName="")

Protected Attributes
std::vector< Eigen::VectorXf >	path
	vector with configurations which represent the path More...

RobotNodeSetPtr	rns

std::string	name

unsigned int	dimension
	dimension of rns More...

Detailed Description

A representation of a trajectory in joint space, associated with a RobotNodeSet.

Constructor & Destructor Documentation

◆ Trajectory()

VirtualRobot::Trajectory::Trajectory	(	RobotNodeSetPtr	rns,
		const std::string &	name = `""`
	)

Construct a trajectory for the given set of RobotNodes

◆ ~Trajectory()

VirtualRobot::Trajectory::~Trajectory ( )

virtual

Member Function Documentation

◆ addPoint()

void VirtualRobot::Trajectory::addPoint ( const Eigen::VectorXf & c )

Insert a configuration as one point to the trajectory.

Parameters

c	configuration vector

◆ clone()

TrajectoryPtr VirtualRobot::Trajectory::clone ( ) const

Creates a copy of the instance.

Returns: pointer to new instance (copy)

◆ createSubPath()

TrajectoryPtr VirtualRobot::Trajectory::createSubPath	(	unsigned int	startIndex,
		unsigned int	endIndex
	)		const

Create a new trajectory from startIndex to endIndex.

◆ createWorkspaceTrajectory()

std::vector< Eigen::Matrix4f > VirtualRobot::Trajectory::createWorkspaceTrajectory ( VirtualRobot::RobotNodePtr r = VirtualRobot::RobotNodePtr() )

Creates the corresponding trajectory in workspace.

Parameters

r	The RobotNode that should be considered (if not set, the TCP of the RobotNodeSet is used)

Returns: For each point of this joint space trajectory, the pose of r in workspace is computed and added to the resulting vector.

◆ erasePosition()

void VirtualRobot::Trajectory::erasePosition ( unsigned int pos )

virtual

Erase a point in trajectory.

Parameters

pos	position of point in trajectory array

◆ getData()

const std::vector< Eigen::VectorXf > & VirtualRobot::Trajectory::getData ( ) const

For quick access to data.

◆ getDimension()

unsigned int VirtualRobot::Trajectory::getDimension ( ) const

◆ getLength()

float VirtualRobot::Trajectory::getLength ( ) const

virtual

Returns the euclidean length of the complete trajectory.

Reimplemented in Saba::CSpacePath.

◆ getName()

std::string VirtualRobot::Trajectory::getName ( ) const

◆ getNrOfPoints()

unsigned int VirtualRobot::Trajectory::getNrOfPoints ( ) const

return total number of trajectory points

◆ getPoint()

Eigen::VectorXf VirtualRobot::Trajectory::getPoint ( unsigned int nr ) const

Get a point in trajectory with a index.

Parameters

nr	index to point in trajectory

◆ getPointRef()

Eigen::VectorXf & VirtualRobot::Trajectory::getPointRef ( unsigned int pos )

◆ getPoints() [1/2]

std::vector< Eigen::VectorXf > const & VirtualRobot::Trajectory::getPoints ( ) const

◆ getPoints() [2/2]

bool VirtualRobot::Trajectory::getPoints	(	unsigned int	start,
		unsigned int	end,
		std::vector< Eigen::VectorXf > &	storePosList
	)		const

to retrieve entries of trajectory

◆ getRobotName()

std::string VirtualRobot::Trajectory::getRobotName ( ) const

◆ getRobotNodeSet()

VirtualRobot::RobotNodeSetPtr VirtualRobot::Trajectory::getRobotNodeSet ( )

◆ getVisualization()

VisualizationNodePtr VirtualRobot::Trajectory::getVisualization ( std::string visualizationFactoryName = "" )

Get a visualization for this trajectory.

Parameters

visualizationFactoryName The string that identifies the factory. If not given, the first registered factory (which is usually the only one) is used.

◆ insertPosition() [1/2]

void VirtualRobot::Trajectory::insertPosition	(	unsigned int	pos,
		const Eigen::VectorXf &	c
	)

virtual

Insert a point into trajectory.

Parameters

pos	position of point being inserted
c	configuration / valid joint values to insert as a point in trajectory

◆ insertPosition() [2/2]

void VirtualRobot::Trajectory::insertPosition	(	unsigned int	pos,
		std::vector< Eigen::VectorXf > &	newConfigurations
	)

virtual

◆ insertTrajectory()

void VirtualRobot::Trajectory::insertTrajectory	(	unsigned int	pos,
		TrajectoryPtr	trajectoryToInsert
	)

virtual

◆ interpolate()

void VirtualRobot::Trajectory::interpolate	(	float	t,
		Eigen::VectorXf &	storePos,
		int *	storeIndex = `NULL`
	)		const

virtual

return position on trajectory for time t (0<=t<=1) If storeIndex!=NULL the index of the last trajectory point is stored

Reimplemented in Saba::CSpacePath.

◆ print()

void VirtualRobot::Trajectory::print ( ) const

virtual

prints trajectory contents to console

◆ removePositions()

unsigned int VirtualRobot::Trajectory::removePositions	(	unsigned int	startPos,
		unsigned int	endPos
	)

virtual

Erases all points from start to end in trajectory (including start&end).

Parameters

startPos	start position of point in trajectory array
endPos	end position of point in trajectory array

◆ reset()

void VirtualRobot::Trajectory::reset ( )

virtual

reset all data

◆ reverse()

void VirtualRobot::Trajectory::reverse ( )

virtual

reverse position order: end becomes start

◆ toXML()

std::string VirtualRobot::Trajectory::toXML ( int tabs = 0 ) const

virtual

Create an XML string. All lines are indented with tabs tab stops.

Field Documentation

◆ dimension

unsigned int VirtualRobot::Trajectory::dimension

protected

dimension of rns

◆ name

std::string VirtualRobot::Trajectory::name

protected

◆ path

std::vector< Eigen::VectorXf > VirtualRobot::Trajectory::path

protected

vector with configurations which represent the path

◆ rns

RobotNodeSetPtr VirtualRobot::Trajectory::rns

protected

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Trajectory()

◆ ~Trajectory()

Member Function Documentation

◆ addPoint()

◆ clone()

◆ createSubPath()

◆ createWorkspaceTrajectory()

◆ erasePosition()

◆ getData()

◆ getDimension()

◆ getLength()

◆ getName()

◆ getNrOfPoints()

◆ getPoint()

◆ getPointRef()

◆ getPoints() [1/2]

◆ getPoints() [2/2]

◆ getRobotName()

◆ getRobotNodeSet()

◆ getVisualization()

◆ insertPosition() [1/2]

◆ insertPosition() [2/2]

◆ insertTrajectory()

◆ interpolate()

◆ print()

◆ removePositions()

◆ reset()

◆ reverse()

◆ toXML()

Field Documentation

◆ dimension

◆ name

◆ path

◆ rns