sot-torque-control  1.5.3
Collection of dynamic-graph entities aimed at implementing torque control on different robots.
TextFileTrajectoryGenerator Class Reference

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

Inheritance diagram for TextFileTrajectoryGenerator:
Collaboration diagram for TextFileTrajectoryGenerator:

Public Member Functions

 TextFileTrajectoryGenerator (double dt, Eigen::VectorXd::Index size)
 
virtual const Eigen::VectorXd & compute_next_point ()
 
virtual bool loadTextFile (const std::string &fileName)
 
- Public Member Functions inherited from AbstractTrajectoryGenerator
 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::MatrixXd m_accTraj
 
Eigen::MatrixXd m_posTraj
 
Eigen::MatrixXd m_velTraj
 
- Protected Attributes inherited from AbstractTrajectoryGenerator
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

- Protected Member Functions inherited from AbstractTrajectoryGenerator
virtual void resizeAllData (Eigen::VectorXd::Index size)
 
void sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *file="", int line=0)
 

Detailed Description

Trajectory generator that reads the trajectory and its derivatives from a text file.

Definition at line 193 of file trajectory-generators.hh.

Constructor & Destructor Documentation

◆ TextFileTrajectoryGenerator()

TextFileTrajectoryGenerator ( double  dt,
Eigen::VectorXd::Index  size 
)
inline

Definition at line 200 of file trajectory-generators.hh.

Member Function Documentation

◆ compute_next_point()

virtual const Eigen::VectorXd& compute_next_point ( )
inlinevirtual

Implements AbstractTrajectoryGenerator.

Definition at line 222 of file trajectory-generators.hh.

◆ loadTextFile()

virtual bool loadTextFile ( const std::string &  fileName)
inlinevirtual

Definition at line 202 of file trajectory-generators.hh.

Member Data Documentation

◆ m_accTraj

Eigen::MatrixXd m_accTraj
protected

Definition at line 197 of file trajectory-generators.hh.

◆ m_posTraj

Eigen::MatrixXd m_posTraj
protected

Definition at line 195 of file trajectory-generators.hh.

◆ m_velTraj

Eigen::MatrixXd m_velTraj
protected

Definition at line 196 of file trajectory-generators.hh.


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