robotis_manipulator::JointTrajectory Class Reference

The JointTrajectory class. More...

#include <robotis_manipulator_trajectory_generator.h>

Collaboration diagram for robotis_manipulator::JointTrajectory:

Public Member Functions
	JointTrajectory ()
virtual	~JointTrajectory ()
void	makeJointTrajectory (double move_time, JointWaypoint start, JointWaypoint goal)
	makeJointTrajectory More...
Eigen::MatrixXd	getMinimumJerkCoefficient ()
	getMinimumJerkCoefficient More...
JointWaypoint	getJointWaypoint (double tick)
	getJointWaypoint More...

Private Attributes
uint8_t	coefficient_size_
MinimumJerk	minimum_jerk_trajectory_generator_
Eigen::MatrixXd	minimum_jerk_coefficient_

Detailed Description

The JointTrajectory class.

Definition at line 79 of file robotis_manipulator_trajectory_generator.h.

Constructor & Destructor Documentation

JointTrajectory::JointTrajectory

(

)

Definition at line 72 of file robotis_manipulator_trajectory_generator.cpp.

{}

JointTrajectory::~JointTrajectory ( )

virtual

Definition at line 75 of file robotis_manipulator_trajectory_generator.cpp.

{}

Member Function Documentation

JointWaypoint JointTrajectory::getJointWaypoint

(

double

tick

)

getJointWaypoint

Parameters

tick

Returns

Definition at line 92 of file robotis_manipulator_trajectory_generator.cpp.

{
  JointWaypoint joint_way_point;
  for (uint8_t index = 0; index < coefficient_size_; index++)
  {
    JointValue single_joint_way_point;

    single_joint_way_point.position = minimum_jerk_coefficient_(0, index) +
             minimum_jerk_coefficient_(1, index) * pow(tick, 1) +
             minimum_jerk_coefficient_(2, index) * pow(tick, 2) +
             minimum_jerk_coefficient_(3, index) * pow(tick, 3) +
             minimum_jerk_coefficient_(4, index) * pow(tick, 4) +
             minimum_jerk_coefficient_(5, index) * pow(tick, 5);

    single_joint_way_point.velocity = minimum_jerk_coefficient_(1, index) +
             2 * minimum_jerk_coefficient_(2, index) * pow(tick, 1) +
             3 * minimum_jerk_coefficient_(3, index) * pow(tick, 2) +
             4 * minimum_jerk_coefficient_(4, index) * pow(tick, 3) +
             5 * minimum_jerk_coefficient_(5, index) * pow(tick, 4);

    single_joint_way_point.acceleration = 2 * minimum_jerk_coefficient_(2, index) +
             6 * minimum_jerk_coefficient_(3, index) * pow(tick, 1) +
             12 * minimum_jerk_coefficient_(4, index) * pow(tick, 2) +
             20 * minimum_jerk_coefficient_(5, index) * pow(tick, 3);

    single_joint_way_point.effort = 0.0;

    joint_way_point.push_back(single_joint_way_point);
  }

  return joint_way_point;
}

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Eigen::MatrixXd JointTrajectory::getMinimumJerkCoefficient

(

)

getMinimumJerkCoefficient

Returns

Definition at line 125 of file robotis_manipulator_trajectory_generator.cpp.

{
  return minimum_jerk_coefficient_;
}

void JointTrajectory::makeJointTrajectory	(	double	move_time,
		JointWaypoint	start,
		JointWaypoint	goal
	)

makeJointTrajectory

Parameters

move_time
start
goal

Definition at line 77 of file robotis_manipulator_trajectory_generator.cpp.

{
  coefficient_size_ = start.size();
  minimum_jerk_coefficient_.resize(6,coefficient_size_);
  for (uint8_t index = 0; index < coefficient_size_; index++)
  {
    minimum_jerk_trajectory_generator_.calcCoefficient(start.at(index),
                                    goal.at(index),
                                    move_time);

    minimum_jerk_coefficient_.col(index) = minimum_jerk_trajectory_generator_.getCoefficient();
  }
}

Member Data Documentation

uint8_t robotis_manipulator::JointTrajectory::coefficient_size_

private

Definition at line 82 of file robotis_manipulator_trajectory_generator.h.

Eigen::MatrixXd robotis_manipulator::JointTrajectory::minimum_jerk_coefficient_

private

Definition at line 84 of file robotis_manipulator_trajectory_generator.h.

MinimumJerk robotis_manipulator::JointTrajectory::minimum_jerk_trajectory_generator_

private

Definition at line 83 of file robotis_manipulator_trajectory_generator.h.

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

• include/robotis_manipulator/robotis_manipulator_trajectory_generator.h
• src/robotis_manipulator/robotis_manipulator_trajectory_generator.cpp