arl::robot::trajectory Namespace Reference

Contains functions for generating trajectories. More...

Functions
arma::mat	get5thOrder (double t, arma::vec p0, arma::vec pT, double totalTime)
	Designs a 5th order trajectory. More...
arma::mat	get5thOrderRotationMatrix (double t, arma::mat R0, arma::mat Rt, double totalTime)
	Designs a 5th order trajectory for orientation. More...
arma::mat	get3rdOrder (double t, arma::vec p0, arma::vec pT, double totalTime)
	Designs a 3th order trajectory. More...
arma::mat	getMinJerk (const arma::mat &state, const arma::vec &goal, double tau, double dt)
	Computes minimum jerk trajectory step given that we are currently in x, xd, xdd and that we have tau time before we reach the goal. More...

Detailed Description

Contains functions for generating trajectories.