47 :
public ::dynamicgraph::Entity {
49 DYNAMIC_GRAPH_ENTITY_DECL();
55 void init(
const double& dt,
const std::string& robotRef);
76 void playTrajectoryFile(
const std::string& fileName);
79 void getJoint(
const std::string& jointName);
82 bool isTrajectoryEnded();
89 void moveJoint(
const std::string& jointName,
const double& qFinal,
91 void moveForce(
const std::string& forceName,
const int& axis,
92 const double& fFinal,
const double& time);
100 void startSinusoid(
const std::string& jointName,
const double& qFinal,
109 void startTriangle(
const std::string& jointName,
const double& qFinal,
110 const double& time,
const double& Tacc);
119 void startConstAcc(
const std::string& jointName,
const double& qFinal,
130 void startForceSinusoid(
const std::string& forceName,
const int& axis,
131 const double& fFinal,
const double& time);
142 void startLinearChirp(
const std::string& jointName,
const double& qFinal,
143 const double& f0,
const double& f1,
const double& time);
145 void startForceLinearChirp(
const std::string& forceName,
const int& axis,
146 const double& fFinal,
const double& f0,
147 const double& f1,
const double& time);
153 void stop(
const std::string& jointName);
159 void stopForce(
const std::string& forceName);
162 virtual void display(std::ostream& os)
const;
164 void sendMsg(
const std::string& msg, MsgType t = MSG_TYPE_INFO,
165 const char* =
"",
int = 0) {
166 logger_.stream(t) << (
"[JointTrajectoryGenerator-" + name +
"] " + msg)
207 bool generateReferenceForceSignal(
const std::string& forceName,
int fid,
208 dynamicgraph::Vector& s,
int iter);
210 bool convertJointNameToJointId(
const std::string& name,
unsigned int&
id);
211 bool convertForceNameToForceId(
const std::string& name,
unsigned int&
id);
212 bool isJointInRange(
unsigned int id,
double q);
213 bool isForceInRange(
unsigned int id,
const Eigen::VectorXd& f);
214 bool isForceInRange(
unsigned int id,
int axis,
double f);