#include <sot/torque_control/utils/trajectory-generators.hh>
Public Member Functions | |
AbstractTrajectoryGenerator (double dt, double traj_time, Eigen::VectorXd::Index size) | |
AbstractTrajectoryGenerator (double dt, double traj_time, const Eigen::VectorXd &x_init, const Eigen::VectorXd &x_final) | |
virtual const Eigen::VectorXd & | compute_next_point ()=0 |
virtual const Eigen::VectorXd & | get_final_point () |
virtual const Eigen::VectorXd & | get_initial_point () |
virtual const Eigen::VectorXd & | getAcc () |
virtual const Eigen::VectorXd & | getPos () |
virtual const Eigen::VectorXd & | getVel () |
virtual bool | isTrajectoryEnded () |
virtual bool | set_final_point (const Eigen::VectorXd &x_final) |
virtual bool | set_final_point (const double &x_final) |
virtual bool | set_initial_point (const Eigen::VectorXd &x_init) |
virtual bool | set_initial_point (const double &x_init) |
virtual bool | set_trajectory_time (double traj_time) |
Protected Member Functions | |
virtual void | resizeAllData (Eigen::VectorXd::Index size) |
void | sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *file="", int line=0) |
Protected Attributes | |
Eigen::VectorXd | m_ddx |
current velocity More... | |
double | m_dt |
time to go from x_init to x_final (sec) More... | |
Eigen::VectorXd | m_dx |
current position More... | |
Eigen::VectorXd::Index | m_size |
current time More... | |
double | m_t |
control dt (sampling period of the trajectory) More... | |
double | m_traj_time |
final position More... | |
Eigen::VectorXd | m_x |
Eigen::VectorXd | m_x_final |
initial position More... | |
Eigen::VectorXd | m_x_init |
current acceleration More... | |
Definition at line 89 of file trajectory-generators.hh.
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inline |
Definition at line 117 of file trajectory-generators.hh.
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inline |
Definition at line 125 of file trajectory-generators.hh.
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pure virtual |
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inlinevirtual |
Definition at line 179 of file trajectory-generators.hh.
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inlinevirtual |
Definition at line 178 of file trajectory-generators.hh.
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inlinevirtual |
Definition at line 177 of file trajectory-generators.hh.
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inlinevirtual |
Definition at line 175 of file trajectory-generators.hh.
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inlinevirtual |
Definition at line 176 of file trajectory-generators.hh.
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inlinevirtual |
Reimplemented in ConstantAccelerationTrajectoryGenerator, TriangleTrajectoryGenerator, SinusoidTrajectoryGenerator, and NoTrajectoryGenerator.
Definition at line 181 of file trajectory-generators.hh.
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inlineprotectedvirtual |
Definition at line 102 of file trajectory-generators.hh.
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inlineprotected |
Definition at line 111 of file trajectory-generators.hh.
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inlinevirtual |
Definition at line 155 of file trajectory-generators.hh.
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inlinevirtual |
Definition at line 161 of file trajectory-generators.hh.
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inlinevirtual |
Definition at line 137 of file trajectory-generators.hh.
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inlinevirtual |
Definition at line 146 of file trajectory-generators.hh.
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inlinevirtual |
Reimplemented in ConstantAccelerationTrajectoryGenerator.
Definition at line 167 of file trajectory-generators.hh.
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protected |
current velocity
Definition at line 93 of file trajectory-generators.hh.
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protected |
time to go from x_init to x_final (sec)
Definition at line 98 of file trajectory-generators.hh.
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protected |
current position
Definition at line 92 of file trajectory-generators.hh.
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protected |
current time
Definition at line 100 of file trajectory-generators.hh.
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protected |
control dt (sampling period of the trajectory)
Definition at line 99 of file trajectory-generators.hh.
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protected |
final position
Definition at line 97 of file trajectory-generators.hh.
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protected |
Definition at line 91 of file trajectory-generators.hh.
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protected |
initial position
Definition at line 95 of file trajectory-generators.hh.
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protected |
current acceleration
Definition at line 94 of file trajectory-generators.hh.