#include <sot/torque_control/utils/trajectory-generators.hh>
Public Member Functions | |
TextFileTrajectoryGenerator (double dt, Eigen::VectorXd::Index size) | |
virtual const Eigen::VectorXd & | compute_next_point () |
virtual bool | loadTextFile (const std::string &fileName) |
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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::MatrixXd | m_accTraj |
Eigen::MatrixXd | m_posTraj |
Eigen::MatrixXd | m_velTraj |
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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) |
Trajectory generator that reads the trajectory and its derivatives from a text file.
Definition at line 193 of file trajectory-generators.hh.
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inline |
Definition at line 200 of file trajectory-generators.hh.
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inlinevirtual |
Implements AbstractTrajectoryGenerator.
Definition at line 222 of file trajectory-generators.hh.
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inlinevirtual |
Definition at line 202 of file trajectory-generators.hh.
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protected |
Definition at line 197 of file trajectory-generators.hh.
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protected |
Definition at line 195 of file trajectory-generators.hh.
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protected |
Definition at line 196 of file trajectory-generators.hh.