ct::rbd::SimpleArmTrajectoryGenerator< NJOINTS, SCALAR > Class Template Reference

#include <SimpleArmTrajectoryGenerator.h>

Public Types
using	Position = typename ct::rbd::JointState< NJOINTS, SCALAR >::Position
using	Velocity = typename ct::rbd::JointState< NJOINTS, SCALAR >::Velocity
using	Acceleration = typename ct::rbd::JointAcceleration< NJOINTS, SCALAR >::Acceleration

Public Member Functions
	SimpleArmTrajectoryGenerator (const Velocity &kAbsMaxJointVelocities, const Acceleration &kAbsMaxJointAccelerations)
core::StateTrajectory< 2 *NJOINTS >	generateTrajectory (const Position &start, const Position &end, const SCALAR sampling_time=SCALAR(0.02), bool verbose=false)

Detailed Description

template<size_t NJOINTS, typename SCALAR = double>
class ct::rbd::SimpleArmTrajectoryGenerator< NJOINTS, SCALAR >

Generates basic joint trajectories according to the principle explained in SingleDOFTrajectoryGenerator.h. Not all joints will reach their target at the same time, every joint drives up to its individual max velocity and finishes when arrived. Whole trajectory ends when last joint arrives at it's desired position.

Member Typedef Documentation

Position

template<size_t NJOINTS, typename SCALAR = double>

using ct::rbd::SimpleArmTrajectoryGenerator< NJOINTS, SCALAR >::Position = typename ct::rbd::JointState<NJOINTS, SCALAR>::Position

Velocity

template<size_t NJOINTS, typename SCALAR = double>

using ct::rbd::SimpleArmTrajectoryGenerator< NJOINTS, SCALAR >::Velocity = typename ct::rbd::JointState<NJOINTS, SCALAR>::Velocity

Acceleration

template<size_t NJOINTS, typename SCALAR = double>

using ct::rbd::SimpleArmTrajectoryGenerator< NJOINTS, SCALAR >::Acceleration = typename ct::rbd::JointAcceleration<NJOINTS, SCALAR>::Acceleration

Constructor & Destructor Documentation

SimpleArmTrajectoryGenerator()

template<size_t NJOINTS, typename SCALAR = double>

ct::rbd::SimpleArmTrajectoryGenerator< NJOINTS, SCALAR >::SimpleArmTrajectoryGenerator ( const Velocity &  kAbsMaxJointVelocities, const Acceleration &  kAbsMaxJointAccelerations  )

inline

References i.

Member Function Documentation

generateTrajectory()

template<size_t NJOINTS, typename SCALAR = double>

core::StateTrajectory<2 * NJOINTS> ct::rbd::SimpleArmTrajectoryGenerator< NJOINTS, SCALAR >::generateTrajectory ( const Position &  start, const Position &  end, const SCALAR  sampling_time = SCALAR(0.02), bool  verbose = false  )

inline

Generate a Trajectory with a default sampling time of 20 ms -> sampling in constant time intervals

References i, n, ct::core::DiscreteTrajectoryBase< T, Alloc, SCALAR >::push_back(), and verbose.

Referenced by main().

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

• /home/gim2rng/ct_devel_ws/src/control-toolbox/ct_rbd/include/ct/rbd/common/SimpleArmTrajectoryGenerator.h