25 #ifndef ROBOTIS_MNAMIPULATOR_TRAJECTORY_GENERATOR_H_ 26 #define ROBOTIS_MNAMIPULATOR_TRAJECTORY_GENERATOR_H_ 33 #if defined(__OPENCR__) 38 #include <eigen3/Eigen/Eigen> 39 #include <eigen3/Eigen/LU> 40 #include <eigen3/Eigen/QR> 96 void makeJointTrajectory(
double move_time,
104 Eigen::MatrixXd getMinimumJerkCoefficient();
133 void makeTaskTrajectory(
double move_time,
141 Eigen::MatrixXd getMinimumJerkCoefficient();
182 void setMoveTime(
double move_time);
187 void setPresentTime(
double present_time);
191 void setStartTimeToPresentTime();
196 void setStartTime(
double start_time);
201 double getMoveTime();
206 double getTickTime();
262 void setCustomTrajectoryOption(
Name trajectory_name,
const void* arg);
267 void setPresentControlToolName(
Name present_control_tool_name);
272 Name getPresentCustomTrajectoryName();
277 Name getPresentControlToolName();
291 void updatePresentWaypoint(
Kinematics* kinematics);
296 void setPresentJointWaypoint(
JointWaypoint joint_value_vector);
302 void setPresentTaskWaypoint(
Name tool_name,
TaskWaypoint tool_position_value_vector);
357 void makeCustomTrajectory(
Name trajectory_name,
JointWaypoint start_way_point,
const void *arg);
364 void makeCustomTrajectory(
Name trajectory_name,
TaskWaypoint start_way_point,
const void *arg);
372 void setToolGoalPosition(
Name tool_name,
double tool_goal_position);
378 void setToolGoalValue(
Name tool_name,
JointValue tool_goal_value);
384 double getToolGoalPosition(
Name tool_name);
394 #endif // ROBOTIS_MNAMIPULATOR_TRAJECTORY_GENERATOR_H_
TrajectoryType trajectory_type_
Eigen::VectorXd coefficient_
Eigen::MatrixXd minimum_jerk_coefficient_
void calcCoefficient(Point start, Point goal, double move_time)
calcCoefficient
Name present_control_tool_name_
The CustomJointTrajectory class.
Eigen::MatrixXd minimum_jerk_coefficient_
uint8_t coefficient_size_
std::vector< JointValue > JointWaypoint
std::map< Name, CustomJointTrajectory * > cus_joint_
The JointTrajectory class.
MinimumJerk minimum_jerk_trajectory_generator_
The TaskTrajectory class.
uint8_t coefficient_size_
std::map< Name, CustomTaskTrajectory * > cus_task_
The CustomTaskTrajectory class.
MinimumJerk minimum_jerk_trajectory_generator_
Eigen::VectorXd getCoefficient()
getCoefficient
Name present_custom_trajectory_name_