ct::rbd::tpl::SingleDOFTrajectoryGenerator< SCALAR > Class Template Reference

#include <SingleDOFTrajectoryGenerator.h>

Public Member Functions
	SingleDOFTrajectoryGenerator ()
	SingleDOFTrajectoryGenerator (const SCALAR x0, const SCALAR xT, SCALAR abs_v_max, SCALAR abs_a_max)
SCALAR	setup (const SCALAR x0, const SCALAR xT, SCALAR abs_v_max, SCALAR abs_a_max)
void	queryTrajectory (const SCALAR time, SCALAR &x_new, SCALAR &v_new)

Protected Types
enum	MODE { ACCELERATE_AND_DECELERATE = 0, ACCELERATE_HOLD_DECELERATE = 1 }

Detailed Description

template<typename SCALAR = double>
class ct::rbd::tpl::SingleDOFTrajectoryGenerator< SCALAR >

Generate a simple trajectory for a single degree of freedom

• the initial and target value
• the max allowed acceleration and deceleration

This class comprises two different modes:

1) If the position distance to be bridged is too small to reach the maximum velocity through constant acceleration/deceleration, it simply constantly accelerates until the middle of the path and constantly decelerates after it.

2) Otherwise, it accelerates to the maximum velocity and then stays at that desired velocity. It starts decelerating just in time to reach zero velocity at the target point.

Member Enumeration Documentation

MODE

template<typename SCALAR = double>

enum ct::rbd::tpl::SingleDOFTrajectoryGenerator::MODE

protected

Enumerator
ACCELERATE_AND_DECELERATE
ACCELERATE_HOLD_DECELERATE

Constructor & Destructor Documentation

SingleDOFTrajectoryGenerator() [1/2]

template<typename SCALAR = double>

ct::rbd::tpl::SingleDOFTrajectoryGenerator< SCALAR >::SingleDOFTrajectoryGenerator ( )

inline

SingleDOFTrajectoryGenerator() [2/2]

template<typename SCALAR = double>

ct::rbd::tpl::SingleDOFTrajectoryGenerator< SCALAR >::SingleDOFTrajectoryGenerator ( const SCALAR  x0, const SCALAR  xT, SCALAR  abs_v_max, SCALAR  abs_a_max  )

inline

References ct::rbd::tpl::SingleDOFTrajectoryGenerator< SCALAR >::setup().

Member Function Documentation

setup()

template<typename SCALAR = double>

SCALAR ct::rbd::tpl::SingleDOFTrajectoryGenerator< SCALAR >::setup ( const SCALAR  x0, const SCALAR  xT, SCALAR  abs_v_max, SCALAR  abs_a_max  )

inline

Parameters

x0	starting value for x
xT	end value for x
abs_v_max	maximal absolute velocity for the trajectory
abs_a_max	maximal absolute acceleration for the trajectory

Warning

this generator currently only supports zero start and end velocities

Returns

the total trajectory time horizon computed from the given parameters.

References ct::rbd::tpl::SingleDOFTrajectoryGenerator< SCALAR >::ACCELERATE_AND_DECELERATE, and ct::rbd::tpl::SingleDOFTrajectoryGenerator< SCALAR >::ACCELERATE_HOLD_DECELERATE.

Referenced by ct::rbd::tpl::SingleDOFTrajectoryGenerator< SCALAR >::SingleDOFTrajectoryGenerator().

queryTrajectory()

template<typename SCALAR = double>

void ct::rbd::tpl::SingleDOFTrajectoryGenerator< SCALAR >::queryTrajectory ( const SCALAR  time, SCALAR &  x_new, SCALAR &  v_new  )

inline

Parameters

time	the trajectory query time
x_new	returns the evaluated value for position
v_new	returns the evaluated value for velocity

Todo:

check and resolve why times would not be allowed to be negative.

References ct::rbd::tpl::SingleDOFTrajectoryGenerator< SCALAR >::ACCELERATE_AND_DECELERATE, and ct::rbd::tpl::SingleDOFTrajectoryGenerator< SCALAR >::ACCELERATE_HOLD_DECELERATE.

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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/SingleDOFTrajectoryGenerator.h