#include <sot/torque_control/se3-trajectory-generator.hh>
|
| SE3TrajectoryGenerator (const std::string &name) |
|
| DECLARE_SIGNAL (x, OUT, dynamicgraph::Vector) |
|
| DECLARE_SIGNAL_IN (initial_value, dynamicgraph::Vector) |
|
| DECLARE_SIGNAL_IN (trigger, bool) |
|
| DECLARE_SIGNAL_OUT (ddx, dynamicgraph::Vector) |
|
| DECLARE_SIGNAL_OUT (dx, dynamicgraph::Vector) |
|
virtual void | display (std::ostream &os) const |
|
void | getValue (const int &id) |
|
void | init (const double &dt) |
|
void | move (const int &id, const double &xFinal, const double &time) |
|
void | playTrajectoryFile (const std::string &fileName) |
|
void | sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *="", int=0) |
|
void | setSpline (const std::string &filename, const double &timeToInitConf, const Eigen::MatrixXd &init_rotation) |
|
void | startConstAcc (const int &id, const double &xFinal, const double &time) |
|
void | startLinearChirp (const int &id, const double &xFinal, const double &f0, const double &f1, const double &time) |
|
void | startSinusoid (const int &id, const double &xFinal, const double &time) |
|
void | startSpline () |
|
void | startTriangle (const int &id, const double &xFinal, const double &time, const double &Tacc) |
|
void | stop (const int &id) |
|
Definition at line 46 of file se3-trajectory-generator.hh.
◆ TG_Status
Enumerator |
---|
TG_STOP | |
TG_SINUSOID | |
TG_MIN_JERK | |
TG_LIN_CHIRP | |
TG_TRIANGLE | |
TG_CONST_ACC | |
TG_TEXT_FILE | |
TG_SPLINE | |
Definition at line 129 of file se3-trajectory-generator.hh.
◆ SE3TrajectoryGenerator()
◆ DECLARE_SIGNAL()
DECLARE_SIGNAL |
( |
x |
, |
|
|
OUT |
, |
|
|
dynamicgraph::Vector |
|
|
) |
| |
◆ DECLARE_SIGNAL_IN() [1/2]
DECLARE_SIGNAL_IN |
( |
initial_value |
, |
|
|
dynamicgraph::Vector |
|
|
) |
| |
◆ DECLARE_SIGNAL_IN() [2/2]
DECLARE_SIGNAL_IN |
( |
trigger |
, |
|
|
bool |
|
|
) |
| |
◆ DECLARE_SIGNAL_OUT() [1/2]
DECLARE_SIGNAL_OUT |
( |
ddx |
, |
|
|
dynamicgraph::Vector |
|
|
) |
| |
◆ DECLARE_SIGNAL_OUT() [2/2]
DECLARE_SIGNAL_OUT |
( |
dx |
, |
|
|
dynamicgraph::Vector |
|
|
) |
| |
◆ DECLARE_SIGNAL_OUT_FUNCTION()
DECLARE_SIGNAL_OUT_FUNCTION |
( |
x |
, |
|
|
dynamicgraph::Vector |
|
|
) |
| |
|
protected |
◆ display()
void display |
( |
std::ostream & |
os | ) |
const |
|
virtual |
◆ getValue()
void getValue |
( |
const int & |
id | ) |
|
◆ init()
void init |
( |
const double & |
dt | ) |
|
◆ move()
void move |
( |
const int & |
id, |
|
|
const double & |
xFinal, |
|
|
const double & |
time |
|
) |
| |
Move a component to a position with a minimum-jerk trajectory.
- Parameters
-
id | integer index. |
xFinal | The desired final position of the component. |
time | The time to go from the current position to xFinal [sec]. |
Definition at line 454 of file se3-trajectory-generator.cpp.
◆ playTrajectoryFile()
void playTrajectoryFile |
( |
const std::string & |
fileName | ) |
|
◆ sendMsg()
void sendMsg |
( |
const std::string & |
msg, |
|
|
MsgType |
t = MSG_TYPE_INFO , |
|
|
const char * |
= "" , |
|
|
int |
= 0 |
|
) |
| |
|
inline |
◆ setSpline()
void setSpline |
( |
const std::string & |
filename, |
|
|
const double & |
timeToInitConf, |
|
|
const Eigen::MatrixXd & |
init_rotation |
|
) |
| |
◆ startConstAcc()
void startConstAcc |
( |
const int & |
id, |
|
|
const double & |
xFinal, |
|
|
const double & |
time |
|
) |
| |
Start an infinite trajectory with piece-wise constant acceleration.
- Parameters
-
id | integer index. |
xFinal | The position of the component corresponding to the max amplitude of the trajectory. |
time | The time to go from the current position to xFinal [sec]. |
Tacc | The time during witch acceleration is keept constant [sec]. |
Definition at line 412 of file se3-trajectory-generator.cpp.
◆ startLinearChirp()
void startLinearChirp |
( |
const int & |
id, |
|
|
const double & |
xFinal, |
|
|
const double & |
f0, |
|
|
const double & |
f1, |
|
|
const double & |
time |
|
) |
| |
Start a linear-chirp trajectory, that is a sinusoidal trajectory with frequency being a linear function of time.
- Parameters
-
id | integer index. |
xFinal | The position of the component corresponding to the max amplitude of the sinusoid [rad]. |
f0 | The initial (min) frequency of the sinusoid [Hz] |
f1 | The final (max) frequency of the sinusoid [Hz] |
time | The time to get from f0 to f1 [sec] |
Definition at line 429 of file se3-trajectory-generator.cpp.
◆ startSinusoid()
void startSinusoid |
( |
const int & |
id, |
|
|
const double & |
xFinal, |
|
|
const double & |
time |
|
) |
| |
Start an infinite sinusoidal trajectory.
- Parameters
-
id | integer index. |
xFinal | The position of the component corresponding to the max amplitude of the sinusoid. |
time | The time to go from the current position to xFinal [sec]. |
Definition at line 372 of file se3-trajectory-generator.cpp.
◆ startSpline()
◆ startTriangle()
void startTriangle |
( |
const int & |
id, |
|
|
const double & |
xFinal, |
|
|
const double & |
time, |
|
|
const double & |
Tacc |
|
) |
| |
Start an infinite triangle trajectory.
- Parameters
-
id | integer index. |
xFinal | The position of the component corresponding to the max amplitude of the trajectory. |
time | The time to go from the current position to xFinal [sec]. |
Definition at line 389 of file se3-trajectory-generator.cpp.
◆ stop()
void stop |
( |
const int & |
id | ) |
|
Stop the motion of the specified component. If id is -1 it stops the trajectory of all the vector.
- Parameters
-
Definition at line 469 of file se3-trajectory-generator.cpp.
◆ m_constAccTrajGen
◆ m_currentTrajGen
◆ m_dt
◆ m_firstIter
◆ m_initSucceeded
◆ m_iterLast
◆ m_linChirpTrajGen
◆ m_minJerkTrajGen
◆ m_noTrajGen
◆ m_np
◆ m_nv
◆ m_sinTrajGen
◆ m_splineReady
◆ m_splineRotation
Eigen::Matrix3d m_splineRotation |
|
protected |
◆ m_splineTrajGen
parametriccurves::Spline<double, Eigen::Dynamic>* m_splineTrajGen |
|
protected |
◆ m_status
◆ m_t
◆ m_textFileTrajGen
◆ m_triangleTrajGen
The documentation for this class was generated from the following files: