ndcurves::helpers Namespace Reference

Classes
class	rotation_spline
class	effector_spline_rotation
	Represents a trajectory for and end effector. uses the method effector_spline to create a spline trajectory. Additionally, handles the rotation of the effector as follows: does not rotate during the take off and landing phase, then uses a SLERP algorithm to interpolate the rotation in the quaternion space. More...

Typedefs
typedef double	Numeric
typedef double	Time
typedef Eigen::Matrix< Numeric, Eigen::Dynamic, 1 >	Point
typedef std::vector< Point, Eigen::aligned_allocator< Point > >	T_Point
typedef std::pair< double, Point >	Waypoint
typedef std::vector< Waypoint >	T_Waypoint
typedef exact_cubic< Time, Numeric, true, Point, T_Point >	exact_cubic_t
typedef exact_cubic_t::spline_constraints	spline_constraints_t
typedef exact_cubic_t::t_spline_t	t_spline_t
typedef exact_cubic_t::spline_t	spline_t
typedef Eigen::Matrix< Numeric, 4, 1 >	quat_t
typedef Eigen::Ref< quat_t >	quat_ref_t
typedef const Eigen::Ref< const quat_t >	quat_ref_const_t
typedef Eigen::Matrix< Numeric, 7, 1 >	config_t
typedef curve_abc< Time, Numeric, false, quat_t >	curve_abc_quat_t
typedef std::pair< Numeric, quat_t >	waypoint_quat_t
typedef std::vector< waypoint_quat_t >	t_waypoint_quat_t
typedef Eigen::Matrix< Numeric, 1, 1 >	point_one_dim_t
typedef exact_cubic< Numeric, Numeric, false, point_one_dim_t >	exact_cubic_constraint_one_dim
typedef std::pair< Numeric, point_one_dim_t >	waypoint_one_dim_t
typedef std::vector< waypoint_one_dim_t >	t_waypoint_one_dim_t
typedef exact_cubic< Time, Numeric, false, quat_t, std::vector< quat_t, Eigen::aligned_allocator< quat_t > >, rotation_spline >	exact_cubic_quat_t

Functions
Waypoint	compute_offset (const Waypoint &source, const Point &normal, const Numeric offset, const Time time_offset)
	Compute time such that the equation from source to offsetpoint is necessarily a line.
spline_t	make_end_spline (const Point &normal, const Point &from, const Numeric offset, const Time init_time, const Time time_offset)
	Compute spline from land way point to end point. Constraints are null velocity and acceleration.
spline_constraints_t	compute_required_offset_velocity_acceleration (const spline_t &end_spline, const Time)
	Compute end velocity : along landing normal and respecting time.
template<typename In>
exact_cubic_t *	effector_spline (In wayPointsBegin, In wayPointsEnd, const Point &lift_normal=Eigen::Vector3d::UnitZ(), const Point &land_normal=Eigen::Vector3d::UnitZ(), const Numeric lift_offset=0.02, const Numeric land_offset=0.02, const Time lift_offset_duration=0.02, const Time land_offset_duration=0.02)
	Helper method to create a spline typically used to guide the 3d trajectory of a robot end effector. Given a set of waypoints, and the normal vector of the start and ending positions, automatically create the spline such that:

Typedef Documentation

config_t

typedef Eigen::Matrix<Numeric, 7, 1> ndcurves::helpers::config_t

curve_abc_quat_t

typedef curve_abc<Time, Numeric, false, quat_t> ndcurves::helpers::curve_abc_quat_t

exact_cubic_constraint_one_dim

typedef exact_cubic<Numeric, Numeric, false, point_one_dim_t> ndcurves::helpers::exact_cubic_constraint_one_dim

exact_cubic_quat_t

typedef exact_cubic<Time, Numeric, false, quat_t, std::vector<quat_t, Eigen::aligned_allocator<quat_t> >, rotation_spline> ndcurves::helpers::exact_cubic_quat_t

exact_cubic_t

typedef exact_cubic<Time, Numeric, true, Point, T_Point> ndcurves::helpers::exact_cubic_t

Numeric

typedef double ndcurves::helpers::Numeric

Point

typedef Eigen::Matrix<Numeric, Eigen::Dynamic, 1> ndcurves::helpers::Point

point_one_dim_t

typedef Eigen::Matrix<Numeric, 1, 1> ndcurves::helpers::point_one_dim_t

quat_ref_const_t

typedef const Eigen::Ref<const quat_t> ndcurves::helpers::quat_ref_const_t

quat_ref_t

typedef Eigen::Ref<quat_t> ndcurves::helpers::quat_ref_t

quat_t

typedef Eigen::Matrix<Numeric, 4, 1> ndcurves::helpers::quat_t

spline_constraints_t

typedef exact_cubic_t::spline_constraints ndcurves::helpers::spline_constraints_t

spline_t

typedef exact_cubic_t::spline_t ndcurves::helpers::spline_t

T_Point

typedef std::vector<Point, Eigen::aligned_allocator<Point> > ndcurves::helpers::T_Point

t_spline_t

typedef exact_cubic_t::t_spline_t ndcurves::helpers::t_spline_t

T_Waypoint

typedef std::vector<Waypoint> ndcurves::helpers::T_Waypoint

t_waypoint_one_dim_t

typedef std::vector<waypoint_one_dim_t> ndcurves::helpers::t_waypoint_one_dim_t

t_waypoint_quat_t

typedef std::vector<waypoint_quat_t> ndcurves::helpers::t_waypoint_quat_t

Time

typedef double ndcurves::helpers::Time

Waypoint

typedef std::pair<double, Point> ndcurves::helpers::Waypoint

waypoint_one_dim_t

typedef std::pair<Numeric, point_one_dim_t> ndcurves::helpers::waypoint_one_dim_t

waypoint_quat_t

typedef std::pair<Numeric, quat_t> ndcurves::helpers::waypoint_quat_t

Function Documentation

compute_offset()

Waypoint ndcurves::helpers::compute_offset	(	const Waypoint &	source,
		const Point &	normal,
		const Numeric	offset,
		const Time	time_offset )

Compute time such that the equation from source to offsetpoint is necessarily a line.

compute_required_offset_velocity_acceleration()

spline_constraints_t ndcurves::helpers::compute_required_offset_velocity_acceleration	(	const spline_t &	end_spline,
		const Time	)

Compute end velocity : along landing normal and respecting time.

effector_spline()

template<typename In>

exact_cubic_t * ndcurves::helpers::effector_spline	(	In	wayPointsBegin,
		In	wayPointsEnd,
		const Point &	lift_normal = Eigen::Vector3d::UnitZ(),
		const Point &	land_normal = Eigen::Vector3d::UnitZ(),
		const Numeric	lift_offset = 0.02,
		const Numeric	land_offset = 0.02,
		const Time	lift_offset_duration = 0.02,
		const Time	land_offset_duration = 0.02 )

Helper method to create a spline typically used to guide the 3d trajectory of a robot end effector. Given a set of waypoints, and the normal vector of the start and ending positions, automatically create the spline such that:

• init and end velocities / accelerations are 0.
• the effector lifts and lands exactly in the direction of the specified normals.

  Parameters

  wayPointsBegin	: an iterator pointing to the first element of a waypoint container.
  wayPointsEnd	: an iterator pointing to the last element of a waypoint container.
  lift_normal	: normal to be followed by end effector at take-off.
  land_normal	: normal to be followed by end effector at landing.
  lift_offset	: length of the straight line along normal at take-off.
  land_offset	: length of the straight line along normal at landing.
  lift_offset_duration	: time travelled along straight line at take-off.
  land_offset_duration	: time travelled along straight line at landing.

make_end_spline()

spline_t ndcurves::helpers::make_end_spline	(	const Point &	normal,
		const Point &	from,
		const Numeric	offset,
		const Time	init_time,
		const Time	time_offset )

Compute spline from land way point to end point. Constraints are null velocity and acceleration.