ConstantAccelerationTrajectoryGenerator Class Reference

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

Inheritance diagram for ConstantAccelerationTrajectoryGenerator:

Collaboration diagram for ConstantAccelerationTrajectoryGenerator:

Public Member Functions
	ConstantAccelerationTrajectoryGenerator (double dt, double traj_time, int size)
const Eigen::VectorXd &	compute_next_point ()
virtual bool	isTrajectoryEnded ()
virtual bool	set_trajectory_time (double traj_time)
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	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)

Protected Attributes
int	m_counter
int	m_counter_max
Eigen::VectorXd	m_ddx0
bool	m_is_accelerating
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

Endless piece-wise constant acceleration trajectory generator.

Definition at line 334 of file trajectory-generators.hh.

Constructor & Destructor Documentation

ConstantAccelerationTrajectoryGenerator()

ConstantAccelerationTrajectoryGenerator ( double  dt, double  traj_time, int  size  )

inline

Definition at line 342 of file trajectory-generators.hh.

Member Function Documentation

compute_next_point()

const Eigen::VectorXd& compute_next_point ( )

inlinevirtual

Implements AbstractTrajectoryGenerator.

Definition at line 354 of file trajectory-generators.hh.

isTrajectoryEnded()

virtual bool isTrajectoryEnded ( )

inlinevirtual

Reimplemented from AbstractTrajectoryGenerator.

Definition at line 373 of file trajectory-generators.hh.

set_trajectory_time()

virtual bool set_trajectory_time ( double  traj_time )

inlinevirtual

Reimplemented from AbstractTrajectoryGenerator.

Definition at line 345 of file trajectory-generators.hh.

Member Data Documentation

m_counter

int m_counter

protected

Definition at line 337 of file trajectory-generators.hh.

m_counter_max

int m_counter_max

protected

Definition at line 338 of file trajectory-generators.hh.

m_ddx0

Eigen::VectorXd m_ddx0

protected

Definition at line 339 of file trajectory-generators.hh.

m_is_accelerating

bool m_is_accelerating

protected

Definition at line 336 of file trajectory-generators.hh.

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

• include/sot/torque_control/utils/trajectory-generators.hh