#include <sot/torque_control/utils/trajectory-generators.hh>
Public Member Functions | |
LinearChirpTrajectoryGenerator (double dt, double traj_time, int size) | |
const Eigen::VectorXd & | compute_next_point () |
virtual bool | set_final_frequency (const double &f1) |
virtual bool | set_final_frequency (const Eigen::VectorXd &f1) |
virtual bool | set_initial_frequency (const double &f0) |
virtual bool | set_initial_frequency (const Eigen::VectorXd &f0) |
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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 & | 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 Attributes | |
Eigen::VectorXd | m_ddp |
Eigen::VectorXd | m_dp |
Eigen::VectorXd | m_f |
frequency first derivative More... | |
Eigen::VectorXd | m_f0 |
Eigen::VectorXd | m_f1 |
initial frequency More... | |
Eigen::VectorXd | m_k |
final frequency More... | |
Eigen::VectorXd | m_p |
phase shift for second half of trajectory More... | |
Eigen::VectorXd | m_phi |
current frequency (i.e. time derivative of the phase over 2*pi) More... | |
Eigen::VectorXd | m_phi_0 |
current phase More... | |
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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... | |
Additional Inherited Members | |
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virtual void | resizeAllData (Eigen::VectorXd::Index size) |
void | sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *file="", int line=0) |
Linear chirp trajectory generator. A linear chirp is a sinusoid whose frequency is a linear function of time. In particular the frequency starts from a value f0 and it increases linearly up to a value f1. Then it goes back to f0 and the trajectory is ended.
Definition at line 381 of file trajectory-generators.hh.
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inline |
Definition at line 396 of file trajectory-generators.hh.
References LinearChirpTrajectoryGenerator::m_ddp, LinearChirpTrajectoryGenerator::m_dp, LinearChirpTrajectoryGenerator::m_f, LinearChirpTrajectoryGenerator::m_f0, LinearChirpTrajectoryGenerator::m_f1, LinearChirpTrajectoryGenerator::m_k, LinearChirpTrajectoryGenerator::m_p, LinearChirpTrajectoryGenerator::m_phi, and LinearChirpTrajectoryGenerator::m_phi_0.
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inlinevirtual |
Implements AbstractTrajectoryGenerator.
Definition at line 433 of file trajectory-generators.hh.
References LinearChirpTrajectoryGenerator::m_ddp, AbstractTrajectoryGenerator::m_ddx, LinearChirpTrajectoryGenerator::m_dp, AbstractTrajectoryGenerator::m_dt, AbstractTrajectoryGenerator::m_dx, LinearChirpTrajectoryGenerator::m_f, LinearChirpTrajectoryGenerator::m_f0, LinearChirpTrajectoryGenerator::m_f1, LinearChirpTrajectoryGenerator::m_k, LinearChirpTrajectoryGenerator::m_p, LinearChirpTrajectoryGenerator::m_phi, LinearChirpTrajectoryGenerator::m_phi_0, AbstractTrajectoryGenerator::m_t, AbstractTrajectoryGenerator::m_traj_time, AbstractTrajectoryGenerator::m_x, AbstractTrajectoryGenerator::m_x_final, and AbstractTrajectoryGenerator::m_x_init.
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inlinevirtual |
Definition at line 427 of file trajectory-generators.hh.
References LinearChirpTrajectoryGenerator::m_f1.
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inlinevirtual |
Definition at line 421 of file trajectory-generators.hh.
References LinearChirpTrajectoryGenerator::m_f1.
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inlinevirtual |
Definition at line 415 of file trajectory-generators.hh.
References LinearChirpTrajectoryGenerator::m_f0.
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inlinevirtual |
Definition at line 409 of file trajectory-generators.hh.
References LinearChirpTrajectoryGenerator::m_f0.
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protected |
Definition at line 393 of file trajectory-generators.hh.
Referenced by LinearChirpTrajectoryGenerator::compute_next_point(), and LinearChirpTrajectoryGenerator::LinearChirpTrajectoryGenerator().
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protected |
Definition at line 392 of file trajectory-generators.hh.
Referenced by LinearChirpTrajectoryGenerator::compute_next_point(), and LinearChirpTrajectoryGenerator::LinearChirpTrajectoryGenerator().
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protected |
frequency first derivative
Definition at line 388 of file trajectory-generators.hh.
Referenced by LinearChirpTrajectoryGenerator::compute_next_point(), and LinearChirpTrajectoryGenerator::LinearChirpTrajectoryGenerator().
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protected |
Definition at line 383 of file trajectory-generators.hh.
Referenced by LinearChirpTrajectoryGenerator::compute_next_point(), LinearChirpTrajectoryGenerator::LinearChirpTrajectoryGenerator(), and LinearChirpTrajectoryGenerator::set_initial_frequency().
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protected |
initial frequency
Definition at line 384 of file trajectory-generators.hh.
Referenced by LinearChirpTrajectoryGenerator::compute_next_point(), LinearChirpTrajectoryGenerator::LinearChirpTrajectoryGenerator(), and LinearChirpTrajectoryGenerator::set_final_frequency().
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protected |
final frequency
Variables for temporary results
Definition at line 387 of file trajectory-generators.hh.
Referenced by LinearChirpTrajectoryGenerator::compute_next_point(), and LinearChirpTrajectoryGenerator::LinearChirpTrajectoryGenerator().
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phase shift for second half of trajectory
Definition at line 391 of file trajectory-generators.hh.
Referenced by LinearChirpTrajectoryGenerator::compute_next_point(), and LinearChirpTrajectoryGenerator::LinearChirpTrajectoryGenerator().
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protected |
current frequency (i.e. time derivative of the phase over 2*pi)
Definition at line 389 of file trajectory-generators.hh.
Referenced by LinearChirpTrajectoryGenerator::compute_next_point(), and LinearChirpTrajectoryGenerator::LinearChirpTrajectoryGenerator().
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protected |
current phase
Definition at line 390 of file trajectory-generators.hh.
Referenced by LinearChirpTrajectoryGenerator::compute_next_point(), and LinearChirpTrajectoryGenerator::LinearChirpTrajectoryGenerator().