trajectory.h File Reference

Detailed Description

Header file for trajectory generation class.

Definition in file trajectory.h.

#include <sstream>
#include <map>
#include "quaternion.h"
#include "robot.h"

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Namespaces

namespace ROBOOP

Defines

#define K_ZER0   1

#define BAD_DATA   -1

#define EXTRAPOLLATION   -2

#define NOT_IN_RANGE   -3

#define NONE   0

#define JOINT_SPACE   1

#define CARTESIAN_SPACE   2

Typedefs

typedef map< Real, ColumnVector,
less< Real > > point_map

Data at control points.

typedef map< Real, Quaternion,
less< Real > > quat_map

Data at control points.

Variables

static const char header_trajectory_rcsid [] = "$Id: trajectory.h,v 1.4 2004/07/14 02:32:12 ejt Exp $"

RCS/CVS version.

Define Documentation

#define BAD_DATA -1

Definition at line 82 of file trajectory.h.
Referenced by ROBOOP::Spl_cubic::first_derivative(), ROBOOP::Spl_cubic::interpolating(), and ROBOOP::Spl_cubic::second_derivative().

#define CARTESIAN_SPACE 2

Definition at line 111 of file trajectory.h.
Referenced by ROBOOP::Control_Select::set_control(), ROBOOP::Dynamics::set_robot_on_first_point_of_splines(), ROBOOP::Trajectory_Select::set_trajectory(), ROBOOP::Spl_path::Spl_path(), and ROBOOP::Dynamics::xdot().

#define EXTRAPOLLATION -2

Definition at line 83 of file trajectory.h.

#define JOINT_SPACE 1

Definition at line 110 of file trajectory.h.
Referenced by ROBOOP::Control_Select::set_control(), ROBOOP::Dynamics::set_robot_on_first_point_of_splines(), ROBOOP::Spl_path::Spl_path(), and ROBOOP::Dynamics::xdot().

#define K_ZER0 1

Definition at line 81 of file trajectory.h.

#define NONE 0

Definition at line 109 of file trajectory.h.

#define NOT_IN_RANGE -3

Definition at line 84 of file trajectory.h.
Referenced by ROBOOP::Spl_cubic::first_derivative(), ROBOOP::Spl_cubic::interpolating(), ROBOOP::Spl_Quaternion::quat(), ROBOOP::Spl_Quaternion::quat_w(), and ROBOOP::Spl_cubic::second_derivative().

Typedef Documentation

typedef map< Real, ColumnVector, less< Real > > ROBOOP::point_map

Data at control points.

Definition at line 114 of file trajectory.h.

typedef map< Real, Quaternion, less< Real > > ROBOOP::quat_map

Data at control points.

Definition at line 143 of file trajectory.h.

Variable Documentation

const char header_trajectory_rcsid[] = "$Id: trajectory.h,v 1.4 2004/07/14 02:32:12 ejt Exp $" [static]

RCS/CVS version.

Definition at line 55 of file trajectory.h.

ROBOOP v1.21a

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