#include <sot/torque_control/utils/trajectory-generators.hh>
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virtual void | resizeAllData (Eigen::VectorXd::Index size) |
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void | sendMsg (const std::string &msg, MsgType t=MSG_TYPE_INFO, const char *file="", int line=0) |
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Eigen::VectorXd | m_ddx |
| current velocity
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double | m_dt |
| time to go from x_init to x_final (sec)
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Eigen::VectorXd | m_dx |
| current position
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Eigen::VectorXd::Index | m_size |
| current time
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double | m_t |
| control dt (sampling period of the trajectory)
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double | m_traj_time |
| final position
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Eigen::VectorXd | m_x |
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Eigen::VectorXd | m_x_final |
| initial position
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Eigen::VectorXd | m_x_init |
| current acceleration
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Definition at line 89 of file trajectory-generators.hh.
◆ AbstractTrajectoryGenerator() [1/2]
◆ AbstractTrajectoryGenerator() [2/2]
◆ compute_next_point()
virtual const Eigen::VectorXd & compute_next_point |
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pure virtual |
◆ get_final_point()
virtual const Eigen::VectorXd & get_final_point |
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inlinevirtual |
◆ get_initial_point()
virtual const Eigen::VectorXd & get_initial_point |
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inlinevirtual |
◆ getAcc()
virtual const Eigen::VectorXd & getAcc |
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inlinevirtual |
◆ getPos()
virtual const Eigen::VectorXd & getPos |
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inlinevirtual |
◆ getVel()
virtual const Eigen::VectorXd & getVel |
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inlinevirtual |
◆ isTrajectoryEnded()
virtual bool isTrajectoryEnded |
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inlinevirtual |
◆ resizeAllData()
virtual void resizeAllData |
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Eigen::VectorXd::Index |
size | ) |
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inlineprotectedvirtual |
◆ sendMsg()
void sendMsg |
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const std::string & |
msg, |
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MsgType |
t = MSG_TYPE_INFO , |
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const char * |
file = "" , |
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int |
line = 0 |
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inlineprotected |
◆ set_final_point() [1/2]
virtual bool set_final_point |
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const double & |
x_final | ) |
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inlinevirtual |
◆ set_final_point() [2/2]
virtual bool set_final_point |
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const Eigen::VectorXd & |
x_final | ) |
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inlinevirtual |
◆ set_initial_point() [1/2]
virtual bool set_initial_point |
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const double & |
x_init | ) |
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inlinevirtual |
◆ set_initial_point() [2/2]
virtual bool set_initial_point |
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const Eigen::VectorXd & |
x_init | ) |
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inlinevirtual |
◆ set_trajectory_time()
virtual bool set_trajectory_time |
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double |
traj_time | ) |
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inlinevirtual |
◆ m_ddx
◆ m_dt
◆ m_dx
◆ m_size
Eigen::VectorXd::Index m_size |
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protected |
◆ m_t
◆ m_traj_time
◆ m_x
◆ m_x_final
Eigen::VectorXd m_x_final |
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◆ m_x_init
The documentation for this class was generated from the following file: