ROBOOP::Spl_path Class Reference

#include <trajectory.h>

Inheritance diagram for ROBOOP::Spl_path:

Detailed Description

Cartesian or joint space trajectory.

Definition at line 121 of file trajectory.h.

Public Member Functions

Spl_path ()

Spl_path (const string &filename)

Constructor.

Spl_path (const Matrix &x)

Constructor.

Spl_path (const Spl_path &x)

Copy constructor.

Spl_path & operator= (const Spl_path &x)

Overload = operator.

short p (const Real time, ColumnVector &p)

Position vector at time t.

short p_pdot (const Real time, ColumnVector &p, ColumnVector &pdot)

Position and velocity vector at time t.

short p_pdot_pddot (const Real time, ColumnVector &p, ColumnVector &pdot, ColumnVector &pdotdot)

Position, velocity and acceleration vector at time t.

short get_type ()

double get_final_time ()

Private Attributes

short type

Cartesian space or joint space.

double final_time

Spline final time.

Constructor & Destructor Documentation

ROBOOP::Spl_path::Spl_path ( ) [inline]

Definition at line 124 of file trajectory.h.

ROBOOP::Spl_path::Spl_path ( const string & filename )

Constructor.

Parameters:

filename,:

Spline data.

Here is two examples of file. # is used as a comment, the rest of line is ignored. The first line should contain the string CARTESIAN_SPACE or JOINT_SPACE. The following number (3 in first example and 6 in the second) represents the number of points on each data line. 0, 0.5 and 1.0 in example 1 represents the time.

Example 1:

#
#
#
CARTESIAN_SPACE
3
0
0.452100 -0.150050 -0.731800 
0.5
0.561821 -0.021244 -0.537842 
1.0
0.577857 0.268650 -0.323976

Example 2:

#
#
#
JOINT_SPACE
6
0
0 0 0 0 0 0
1.
0.2 -0.4 0.1 0.2 0.3 0.0
2.0
0.6 -0.8 0.2 0.4 0.4 0.0

Definition at line 247 of file trajectory.cpp.

ROBOOP::Spl_path::Spl_path ( const Matrix & x )

Constructor.

Definition at line 401 of file trajectory.cpp.

ROBOOP::Spl_path::Spl_path ( const Spl_path & x )

Copy constructor.

Definition at line 410 of file trajectory.cpp.

Member Function Documentation

double ROBOOP::Spl_path::get_final_time ( ) [inline]

Definition at line 134 of file trajectory.h.

Referenced by ROBOOP::Dynamics::set_robot_on_first_point_of_splines().

short ROBOOP::Spl_path::get_type ( ) [inline]

Definition at line 133 of file trajectory.h.

Referenced by ROBOOP::Trajectory_Select::set_trajectory().

Spl_path & ROBOOP::Spl_path::operator= ( const Spl_path & x )

Overload = operator.

Definition at line 417 of file trajectory.cpp.

short ROBOOP::Spl_path::p	(	const Real	time,
		ColumnVector &	p
	)

Position vector at time t.

Definition at line 426 of file trajectory.cpp.

Referenced by p_pdot(), p_pdot_pddot(), and Spl_path().

short ROBOOP::Spl_path::p_pdot	(	const Real	time,
		ColumnVector &	p,
		ColumnVector &	pdot
	)

Position and velocity vector at time t.

Definition at line 438 of file trajectory.cpp.

Referenced by ROBOOP::Dynamics::set_robot_on_first_point_of_splines(), and ROBOOP::Dynamics::xdot().

short ROBOOP::Spl_path::p_pdot_pddot	(	const Real	time,
		ColumnVector &	p,
		ColumnVector &	pdot,
		ColumnVector &	pdotdot
	)

Position, velocity and acceleration vector at time t.

Definition at line 455 of file trajectory.cpp.

Referenced by ROBOOP::Dynamics::set_robot_on_first_point_of_splines(), and ROBOOP::Dynamics::xdot().

Member Data Documentation

double ROBOOP::Spl_path::final_time [private]

Spline final time.

Definition at line 138 of file trajectory.h.

Referenced by get_final_time(), operator=(), and Spl_path().

short ROBOOP::Spl_path::type [private]

Cartesian space or joint space.

Definition at line 137 of file trajectory.h.

Referenced by get_type(), operator=(), and Spl_path().

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