Stores a Robot Joint Trajectory, providing interfaces with Armadillo or ROS msgs. You can provide the class with several points and it will interpolate returning position, velocity, acceleration in any given time. More...

#include <joint_trajectory.h>

Public Member Functions
	JointTrajectory ()

	JointTrajectory (const trajectory_msgs::JointTrajectory &traj)
	Initializes the class with the points given by a ROS msg. More...

	JointTrajectory (const arma::vec &time, const arma::mat &pos, const arma::mat &vel, const arma::mat &acc)
	Initializes the class with the points given by armadillo matrices. More...

	~JointTrajectory ()

void	scale (double scale_factor)
	Scales the trajectory given a factor, by multiplying time with this factor, velocity with 1/factor and acceleration with 1/factor^2. More...

void	scaleDuration (double duration)
	Scales the trajectory and changes its duration to match the given one. More...

double	duration ()
	Returns the duration of the trajectory. More...

arma::vec	pos (double t)
	Returns the positions of the joints for the given time. More...

arma::vec	vel (double t)
	Returns the velocities of the joints for the given time. More...

arma::vec	acc (double t)
	Returns the accelerations of the joints for the given time. More...

Friends
std::ostream &	operator<< (std::ostream &, const JointTrajectory &)

Detailed Description

Stores a Robot Joint Trajectory, providing interfaces with Armadillo or ROS msgs. You can provide the class with several points and it will interpolate returning position, velocity, acceleration in any given time.

Example of use:

#include <autharl_core/primitive/joint_trajectory.h>
using arl::primitive::JointTrajectory;
// ...
trajectory_msgs::JointTrajectory ros_msg;
// Fill in the ros msg...
JointTrajectory traj(ros_msg);
// Get the desired position in t = 0.3;
traj.pos(0.3);

Constructor & Destructor Documentation

arl::primitive::JointTrajectory::JointTrajectory ( )

inline

arl::primitive::JointTrajectory::JointTrajectory ( const trajectory_msgs::JointTrajectory & traj )

Initializes the class with the points given by a ROS msg.

The ROS message should include joint names and points with position, velocity, accelarate at time steps given by time_from_start. See here: http://docs.ros.org/api/trajectory_msgs/html/msg/JointTrajectory.html

Parameters

traj	The ROS message as the trajectory

Exceptions

In	case the number of points or the number of joints are zero.

arl::primitive::JointTrajectory::JointTrajectory	(	const arma::vec &	time,
		const arma::mat &	pos,
		const arma::mat &	vel,
		const arma::mat &	acc
	)

Initializes the class with the points given by armadillo matrices.

You need to provide position, velocity and accelaration values for different time points.

Parameters

time	The vector for all the time points
pos	A matrix with rows the position points and a column for each joint.
vel	A matrix with rows the velocity points and a column for each joint.
acc	A matrix with rows the acceleration points and a column for each joint.

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arl::primitive::JointTrajectory::~JointTrajectory ( )

Member Function Documentation

arma::vec arl::primitive::JointTrajectory::acc ( double t )

Returns the accelerations of the joints for the given time.

Parameters

The	desired time

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double arl::primitive::JointTrajectory::duration ( )

Returns the duration of the trajectory.

arma::vec arl::primitive::JointTrajectory::pos ( double t )

Returns the positions of the joints for the given time.

Parameters

The	desired time

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void arl::primitive::JointTrajectory::scale ( double scale_factor )

Scales the trajectory given a factor, by multiplying time with this factor, velocity with 1/factor and acceleration with 1/factor^2.

Parameters

scale_factor The scale factor

void arl::primitive::JointTrajectory::scaleDuration ( double duration )

Scales the trajectory and changes its duration to match the given one.

Parameters

duration The desired final duration.

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arma::vec arl::primitive::JointTrajectory::vel ( double t )

Returns the velocities of the joints for the given time.

Parameters

The	desired time

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Friends And Related Function Documentation

std::ostream& operator<<	(	std::ostream &	s,
		const JointTrajectory &	joint_trajectory
	)

friend

Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation