robotis_manipulator::MinimumJerk Class Reference

The MinimumJerk class. More...

#include <robotis_manipulator_trajectory_generator.h>

Collaboration diagram for robotis_manipulator::MinimumJerk:

Public Member Functions
	MinimumJerk ()
virtual	~MinimumJerk ()
void	calcCoefficient (Point start, Point goal, double move_time)
	calcCoefficient More...
Eigen::VectorXd	getCoefficient ()
	getCoefficient More...

Private Attributes
Eigen::VectorXd	coefficient_

Detailed Description

The MinimumJerk class.

Definition at line 51 of file robotis_manipulator_trajectory_generator.h.

Constructor & Destructor Documentation

MinimumJerk::MinimumJerk

(

)

Definition at line 30 of file robotis_manipulator_trajectory_generator.cpp.

{
  coefficient_ = Eigen::VectorXd::Zero(6);
}

MinimumJerk::~MinimumJerk ( )

virtual

Definition at line 35 of file robotis_manipulator_trajectory_generator.cpp.

{}

Member Function Documentation

void MinimumJerk::calcCoefficient	(	Point	start,
		Point	goal,
		double	move_time
	)

calcCoefficient

Parameters

start
goal
move_time

Definition at line 37 of file robotis_manipulator_trajectory_generator.cpp.

{
  Eigen::Matrix3d A = Eigen::Matrix3d::Identity(3, 3);
  Eigen::Vector3d x = Eigen::Vector3d::Zero();
  Eigen::Vector3d b = Eigen::Vector3d::Zero();

  A << pow(move_time, 3), pow(move_time, 4), pow(move_time, 5),
      3 * pow(move_time, 2), 4 * pow(move_time, 3), 5 * pow(move_time, 4),
      6 * pow(move_time, 1), 12 * pow(move_time, 2), 20 * pow(move_time, 3);

  coefficient_(0) = start.position;
  coefficient_(1) = start.velocity;
  coefficient_(2) = 0.5 * start.acceleration;

  b << (goal.position - start.position - (start.velocity * move_time + 0.5 * start.acceleration * pow(move_time, 2))),
      (goal.velocity - start.velocity - (start.acceleration * move_time)),
      (goal.acceleration - start.acceleration);

  Eigen::ColPivHouseholderQR<Eigen::Matrix3d> dec(A);
  x = dec.solve(b);

  coefficient_(3) = x(0);
  coefficient_(4) = x(1);
  coefficient_(5) = x(2);
}

Eigen::VectorXd MinimumJerk::getCoefficient

(

)

getCoefficient

Returns

Definition at line 65 of file robotis_manipulator_trajectory_generator.cpp.

{
  return coefficient_;
}

Member Data Documentation

Eigen::VectorXd robotis_manipulator::MinimumJerk::coefficient_

private

Definition at line 54 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