sot-torque-control  1.5.2
AbstractTrajectoryGenerator Class Referenceabstract

#include <sot/torque_control/utils/trajectory-generators.hh>

Inheritance diagram for AbstractTrajectoryGenerator:
[legend]

Public Member Functions

 AbstractTrajectoryGenerator (double dt, double traj_time, const Eigen::VectorXd &x_init, const Eigen::VectorXd &x_final)
 
 AbstractTrajectoryGenerator (double dt, double traj_time, Eigen::VectorXd::Index size)
 
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 double &x_final)
 
virtual bool set_final_point (const Eigen::VectorXd &x_final)
 
virtual bool set_initial_point (const double &x_init)
 
virtual bool set_initial_point (const Eigen::VectorXd &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...
 

Detailed Description

Definition at line 85 of file trajectory-generators.hh.

Constructor & Destructor Documentation

◆ AbstractTrajectoryGenerator() [1/2]

◆ AbstractTrajectoryGenerator() [2/2]

Member Function Documentation

◆ compute_next_point()

◆ get_final_point()

virtual const Eigen::VectorXd& get_final_point ( )
inlinevirtual

Definition at line 171 of file trajectory-generators.hh.

References AbstractTrajectoryGenerator::m_x_final.

◆ get_initial_point()

virtual const Eigen::VectorXd& get_initial_point ( )
inlinevirtual

◆ getAcc()

virtual const Eigen::VectorXd& getAcc ( )
inlinevirtual

Definition at line 169 of file trajectory-generators.hh.

References AbstractTrajectoryGenerator::m_ddx.

◆ getPos()

virtual const Eigen::VectorXd& getPos ( )
inlinevirtual

Definition at line 167 of file trajectory-generators.hh.

References AbstractTrajectoryGenerator::m_x.

◆ getVel()

virtual const Eigen::VectorXd& getVel ( )
inlinevirtual

Definition at line 168 of file trajectory-generators.hh.

References AbstractTrajectoryGenerator::m_dx.

◆ isTrajectoryEnded()

◆ resizeAllData()

◆ sendMsg()

void sendMsg ( const std::string &  msg,
MsgType  t = MSG_TYPE_INFO,
const char *  file = "",
int  line = 0 
)
inlineprotected

Definition at line 107 of file trajectory-generators.hh.

◆ set_final_point() [1/2]

virtual bool set_final_point ( const double &  x_final)
inlinevirtual

Definition at line 153 of file trajectory-generators.hh.

References AbstractTrajectoryGenerator::m_x_final.

◆ set_final_point() [2/2]

virtual bool set_final_point ( const Eigen::VectorXd &  x_final)
inlinevirtual

◆ set_initial_point() [1/2]

virtual bool set_initial_point ( const double &  x_init)
inlinevirtual

◆ set_initial_point() [2/2]

virtual bool set_initial_point ( const Eigen::VectorXd &  x_init)
inlinevirtual

◆ set_trajectory_time()

virtual bool set_trajectory_time ( double  traj_time)
inlinevirtual

Member Data Documentation

◆ m_ddx

◆ m_dt

◆ m_dx

◆ m_size

Eigen::VectorXd::Index m_size
protected

◆ m_t

◆ m_traj_time

◆ m_x

◆ m_x_final

◆ m_x_init


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