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

Inheritance diagram for TriangleTrajectoryGenerator:

Collaboration diagram for TriangleTrajectoryGenerator:

Public Member Functions
	TriangleTrajectoryGenerator (double dt, double traj_time, int size)

const Eigen::VectorXd &	compute_next_point ()

virtual bool	isTrajectoryEnded ()

bool	set_acceleration_time (const double Tacc)

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)

virtual bool	set_trajectory_time (double traj_time)

Protected Attributes
bool	m_comingBack

double	m_Tacc

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 triangular trajectory generator.

Definition at line 287 of file trajectory-generators.hh.

Constructor & Destructor Documentation

◆ TriangleTrajectoryGenerator()

TriangleTrajectoryGenerator	(	double	dt,
		double	traj_time,
		int	size
	)

inline

Definition at line 293 of file trajectory-generators.hh.

Member Function Documentation

◆ compute_next_point()

const Eigen::VectorXd& compute_next_point ( )

inlinevirtual

Implements AbstractTrajectoryGenerator.

Definition at line 304 of file trajectory-generators.hh.

◆ isTrajectoryEnded()

virtual bool isTrajectoryEnded ( )

inlinevirtual

Reimplemented from AbstractTrajectoryGenerator.

Definition at line 329 of file trajectory-generators.hh.

◆ set_acceleration_time()

bool set_acceleration_time ( const double Tacc )

inline

Definition at line 298 of file trajectory-generators.hh.

Member Data Documentation

◆ m_comingBack

bool m_comingBack

protected

Definition at line 289 of file trajectory-generators.hh.

◆ m_Tacc

double m_Tacc

protected

Definition at line 290 of file trajectory-generators.hh.

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

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

Public Member Functions

Protected Attributes

Additional Inherited Members