#include <robotis_manipulator_trajectory_generator.h>

Collaboration diagram for robotis_manipulator::Trajectory:

Public Member Functions
	Trajectory ()

	~Trajectory ()

void	setMoveTime (double move_time)
	setMoveTime More...

void	setPresentTime (double present_time)
	setPresentTime More...

void	setStartTimeToPresentTime ()
	setStartTimeToPresentTime More...

void	setStartTime (double start_time)
	setStartTime More...

double	getMoveTime ()
	getMoveTime More...

double	getTickTime ()
	getTickTime More...

void	setManipulator (Manipulator manipulator)
	setManipulator More...

Manipulator *	getManipulator ()
	getManipulator More...

JointTrajectory	getJointTrajectory ()
	getJointTrajectory More...

TaskTrajectory	getTaskTrajectory ()
	getTaskTrajectory More...

CustomJointTrajectory *	getCustomJointTrajectory (Name name)
	getCustomJointTrajectory More...

CustomTaskTrajectory *	getCustomTaskTrajectory (Name name)
	getCustomTaskTrajectory More...

void	addCustomTrajectory (Name trajectory_name, CustomJointTrajectory *custom_trajectory)
	addCustomTrajectory More...

void	addCustomTrajectory (Name trajectory_name, CustomTaskTrajectory *custom_trajectory)
	addCustomTrajectory More...

void	setCustomTrajectoryOption (Name trajectory_name, const void *arg)
	setCustomTrajectoryOption More...

void	setPresentControlToolName (Name present_control_tool_name)
	setPresentControlToolName More...

Name	getPresentCustomTrajectoryName ()
	getPresentCustomTrajectoryName More...

Name	getPresentControlToolName ()
	getPresentControlToolName More...

void	initTrajectoryWaypoint (Manipulator actual_manipulator, Kinematics *kinematics)
	initTrajectoryWaypoint More...

void	updatePresentWaypoint (Kinematics *kinematics)
	updatePresentWaypoint More...

void	setPresentJointWaypoint (JointWaypoint joint_value_vector)
	setPresentJointWaypoint More...

void	setPresentTaskWaypoint (Name tool_name, TaskWaypoint tool_position_value_vector)
	setPresentTaskWaypoint More...

JointWaypoint	getPresentJointWaypoint ()
	getPresentJointWaypoint More...

TaskWaypoint	getPresentTaskWaypoint (Name tool_name)
	getPresentTaskWaypoint More...

JointWaypoint	removeWaypointDynamicData (JointWaypoint value)
	removeWaypointDynamicData More...

TaskWaypoint	removeWaypointDynamicData (TaskWaypoint value)
	removeWaypointDynamicData More...

void	setTrajectoryType (TrajectoryType trajectory_type)
	setTrajectoryType More...

bool	checkTrajectoryType (TrajectoryType trajectory_type)
	checkTrajectoryType More...

void	makeJointTrajectory (JointWaypoint start_way_point, JointWaypoint goal_way_point)
	makeJointTrajectory More...

void	makeTaskTrajectory (TaskWaypoint start_way_point, TaskWaypoint goal_way_point)
	makeTaskTrajectory More...

void	makeCustomTrajectory (Name trajectory_name, JointWaypoint start_way_point, const void *arg)
	makeCustomTrajectory More...

void	makeCustomTrajectory (Name trajectory_name, TaskWaypoint start_way_point, const void *arg)
	makeCustomTrajectory More...

void	setToolGoalPosition (Name tool_name, double tool_goal_position)
	setToolGoalPosition More...

void	setToolGoalValue (Name tool_name, JointValue tool_goal_value)
	setToolGoalValue More...

double	getToolGoalPosition (Name tool_name)
	getToolGoalPosition More...

JointValue	getToolGoalValue (Name tool_name)
	getToolGoalValue More...

Private Attributes
TrajectoryType	trajectory_type_

Time	trajectory_time_

Manipulator	manipulator_

JointTrajectory	joint_

TaskTrajectory	task_

std::map< Name, CustomJointTrajectory * >	cus_joint_

std::map< Name, CustomTaskTrajectory * >	cus_task_

Name	present_custom_trajectory_name_

Name	present_control_tool_name_

Detailed Description

The Trajectory class.

Definition at line 158 of file robotis_manipulator_trajectory_generator.h.

Constructor & Destructor Documentation

robotis_manipulator::Trajectory::Trajectory ( )

inline

Definition at line 174 of file robotis_manipulator_trajectory_generator.h.

174 {}

robotis_manipulator::Trajectory::~Trajectory ( )

inline

Definition at line 175 of file robotis_manipulator_trajectory_generator.h.

175 {}

Member Function Documentation

void Trajectory::addCustomTrajectory	(	Name	trajectory_name,
		CustomJointTrajectory *	custom_trajectory
	)

addCustomTrajectory

Parameters

trajectory_name
custom_trajectory

Definition at line 336 of file robotis_manipulator_trajectory_generator.cpp.

 {
   cus_joint_.insert(std::make_pair(trajectory_name, custom_trajectory));
 }

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void Trajectory::addCustomTrajectory	(	Name	trajectory_name,
		CustomTaskTrajectory *	custom_trajectory
	)

addCustomTrajectory

Parameters

trajectory_name
custom_trajectory

Definition at line 341 of file robotis_manipulator_trajectory_generator.cpp.

 {
   cus_task_.insert(std::make_pair(trajectory_name, custom_trajectory));
 }

bool Trajectory::checkTrajectoryType ( TrajectoryType trajectory_type )

checkTrajectoryType

Parameters

trajectory_type

Returns

Definition at line 432 of file robotis_manipulator_trajectory_generator.cpp.

 {
   if(trajectory_type_==trajectory_type)
     return true;
   else
     return false;
 }

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CustomJointTrajectory * Trajectory::getCustomJointTrajectory ( Name name )

getCustomJointTrajectory

Parameters

name

Returns

Definition at line 326 of file robotis_manipulator_trajectory_generator.cpp.

 {
   return cus_joint_.at(name);
 }

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CustomTaskTrajectory * Trajectory::getCustomTaskTrajectory ( Name name )

getCustomTaskTrajectory

Parameters

name

Returns

Definition at line 331 of file robotis_manipulator_trajectory_generator.cpp.

 {
   return cus_task_.at(name);
 }

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JointTrajectory Trajectory::getJointTrajectory ( )

getJointTrajectory

Returns

Definition at line 316 of file robotis_manipulator_trajectory_generator.cpp.

 {
   return joint_;
 }

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Manipulator * Trajectory::getManipulator ( )

getManipulator

Returns

Definition at line 311 of file robotis_manipulator_trajectory_generator.cpp.

 {
   return &manipulator_;
 }

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double Trajectory::getMoveTime ( )

getMoveTime

Returns

Definition at line 296 of file robotis_manipulator_trajectory_generator.cpp.

 {
   return trajectory_time_.total_move_time;
 }

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Name Trajectory::getPresentControlToolName ( )

getPresentControlToolName

Returns

Definition at line 364 of file robotis_manipulator_trajectory_generator.cpp.

 {
  return present_control_tool_name_;
 }

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Name Trajectory::getPresentCustomTrajectoryName ( )

getPresentCustomTrajectoryName

Returns

Definition at line 359 of file robotis_manipulator_trajectory_generator.cpp.

 {
   return present_custom_trajectory_name_;
 }

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JointWaypoint Trajectory::getPresentJointWaypoint ( )

getPresentJointWaypoint

Returns

Definition at line 395 of file robotis_manipulator_trajectory_generator.cpp.

 {
   return manipulator_.getAllActiveJointValue();
 }

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TaskWaypoint Trajectory::getPresentTaskWaypoint ( Name tool_name )

getPresentTaskWaypoint

Parameters

tool_name

Returns

Definition at line 400 of file robotis_manipulator_trajectory_generator.cpp.

 {
   return manipulator_.getComponentPoseFromWorld(tool_name);
 }

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TaskTrajectory Trajectory::getTaskTrajectory ( )

getTaskTrajectory

Returns

Definition at line 321 of file robotis_manipulator_trajectory_generator.cpp.

 {
   return task_;
 }

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double Trajectory::getTickTime ( )

getTickTime

Returns

Definition at line 301 of file robotis_manipulator_trajectory_generator.cpp.

 {
   return trajectory_time_.present_time - trajectory_time_.start_time;
 }

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double Trajectory::getToolGoalPosition ( Name tool_name )

getToolGoalPosition

Parameters

tool_name

Returns

Definition at line 484 of file robotis_manipulator_trajectory_generator.cpp.

 {
   return manipulator_.getJointPosition(tool_name);
 }

JointValue Trajectory::getToolGoalValue ( Name tool_name )

getToolGoalValue

Parameters

tool_name

Returns

Definition at line 489 of file robotis_manipulator_trajectory_generator.cpp.

 {
   return manipulator_.getJointValue(tool_name);
 }

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void Trajectory::initTrajectoryWaypoint	(	Manipulator	actual_manipulator,
		Kinematics *	kinematics
	)

initTrajectoryWaypoint

Parameters

actual_manipulator
kinematics

Definition at line 369 of file robotis_manipulator_trajectory_generator.cpp.

 {
   setManipulator(actual_manipulator);
   JointWaypoint joint_way_point_vector;
   joint_way_point_vector = getManipulator()->getAllActiveJointValue();
 
   setPresentJointWaypoint(joint_way_point_vector);
   updatePresentWaypoint(kinematics);
 }

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void Trajectory::makeCustomTrajectory	(	Name	trajectory_name,
		JointWaypoint	start_way_point,
		const void *	arg
	)

makeCustomTrajectory

Parameters

trajectory_name
start_way_point
arg

Definition at line 450 of file robotis_manipulator_trajectory_generator.cpp.

 {
   if(cus_joint_.find(trajectory_name) != cus_joint_.end())
   {
     present_custom_trajectory_name_ = trajectory_name;
     cus_joint_.at(trajectory_name)->makeJointTrajectory(trajectory_time_.total_move_time, start_way_point, arg);
   }
   else
     log::error("[makeCustomTrajectory] Wrong way point type.");
 }

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void Trajectory::makeCustomTrajectory	(	Name	trajectory_name,
		TaskWaypoint	start_way_point,
		const void *	arg
	)

makeCustomTrajectory

Parameters

trajectory_name
start_way_point
arg

Definition at line 461 of file robotis_manipulator_trajectory_generator.cpp.

 {
   if(cus_task_.find(trajectory_name) != cus_task_.end())
   {
     present_custom_trajectory_name_ = trajectory_name;
     cus_task_.at(trajectory_name)->makeTaskTrajectory(trajectory_time_.total_move_time, start_way_point, arg);
   }
   else
     log::error("[makeCustomTrajectory] Wrong way point type.");
 }

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void Trajectory::makeJointTrajectory	(	JointWaypoint	start_way_point,
		JointWaypoint	goal_way_point
	)

makeJointTrajectory

Parameters

start_way_point
goal_way_point

Definition at line 440 of file robotis_manipulator_trajectory_generator.cpp.

 {
   joint_.makeJointTrajectory(trajectory_time_.total_move_time, start_way_point, goal_way_point);
 }

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void Trajectory::makeTaskTrajectory	(	TaskWaypoint	start_way_point,
		TaskWaypoint	goal_way_point
	)

makeTaskTrajectory

Parameters

start_way_point
goal_way_point

Definition at line 445 of file robotis_manipulator_trajectory_generator.cpp.

 {
   task_.makeTaskTrajectory(trajectory_time_.total_move_time, start_way_point, goal_way_point);
 }

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JointWaypoint Trajectory::removeWaypointDynamicData ( JointWaypoint value )

removeWaypointDynamicData

Parameters

value

Returns

Definition at line 405 of file robotis_manipulator_trajectory_generator.cpp.

 {
   for(uint32_t index =0; index < value.size(); index++)
   {
     value.at(index).velocity = 0.0;
     value.at(index).acceleration = 0.0;
     value.at(index).effort = 0.0;
   }
   return value;
 }

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TaskWaypoint Trajectory::removeWaypointDynamicData ( TaskWaypoint value )

removeWaypointDynamicData

Parameters

value

Returns

Definition at line 416 of file robotis_manipulator_trajectory_generator.cpp.

 {
   value.dynamic.linear.velocity = Eigen::Vector3d::Zero(3);
   value.dynamic.linear.acceleration = Eigen::Vector3d::Zero(3);
   value.dynamic.angular.velocity = Eigen::Vector3d::Zero(3);
   value.dynamic.angular.acceleration = Eigen::Vector3d::Zero(3);
   return value;
 }

void Trajectory::setCustomTrajectoryOption	(	Name	trajectory_name,
		const void *	arg
	)

setCustomTrajectoryOption

Parameters

trajectory_name
arg

Definition at line 346 of file robotis_manipulator_trajectory_generator.cpp.

 {
   if(cus_joint_.find(trajectory_name) != cus_joint_.end())
     cus_joint_.at(trajectory_name)->setOption(arg);
   else if(cus_task_.find(trajectory_name) != cus_task_.end())
     cus_task_.at(trajectory_name)->setOption(arg);
 }

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void Trajectory::setManipulator ( Manipulator manipulator )

setManipulator

Parameters

manipulator

Definition at line 306 of file robotis_manipulator_trajectory_generator.cpp.

 {
   manipulator_= manipulator;
 }

void Trajectory::setMoveTime ( double move_time )

setMoveTime

Parameters

move_time

Definition at line 276 of file robotis_manipulator_trajectory_generator.cpp.

 {
   trajectory_time_.total_move_time = move_time;
 }

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void Trajectory::setPresentControlToolName ( Name present_control_tool_name )

setPresentControlToolName

Parameters

present_control_tool_name

Definition at line 354 of file robotis_manipulator_trajectory_generator.cpp.

 {
   present_control_tool_name_ = present_control_tool_name;
 }

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void Trajectory::setPresentJointWaypoint ( JointWaypoint joint_value_vector )

setPresentJointWaypoint

Parameters

joint_value_vector

Definition at line 385 of file robotis_manipulator_trajectory_generator.cpp.

 {
   manipulator_.setAllActiveJointValue(joint_value_vector);
 }

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void Trajectory::setPresentTaskWaypoint	(	Name	tool_name,
		TaskWaypoint	tool_position_value_vector
	)

setPresentTaskWaypoint

Parameters

tool_name
tool_position_value_vector

Definition at line 390 of file robotis_manipulator_trajectory_generator.cpp.

 {
   manipulator_.setComponentPoseFromWorld(tool_name, tool_value_vector);
 }

void Trajectory::setPresentTime ( double present_time )

setPresentTime

Parameters

present_time

Definition at line 281 of file robotis_manipulator_trajectory_generator.cpp.

 {
   trajectory_time_.present_time = present_time;
 }

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void Trajectory::setStartTime ( double start_time )

setStartTime

Parameters

start_time

Definition at line 291 of file robotis_manipulator_trajectory_generator.cpp.

 {
   trajectory_time_.start_time = start_time;
 }

void Trajectory::setStartTimeToPresentTime ( )

setStartTimeToPresentTime

Definition at line 286 of file robotis_manipulator_trajectory_generator.cpp.

 {
   trajectory_time_.start_time = trajectory_time_.present_time;
 }

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void Trajectory::setToolGoalPosition	(	Name	tool_name,
		double	tool_goal_position
	)

setToolGoalPosition

Parameters

tool_name
tool_goal_position

Definition at line 473 of file robotis_manipulator_trajectory_generator.cpp.

 {
   manipulator_.setJointPosition(tool_name, tool_goal_position);
 }

void Trajectory::setToolGoalValue	(	Name	tool_name,
		JointValue	tool_goal_value
	)

setToolGoalValue

Parameters

tool_name
tool_goal_value

Definition at line 479 of file robotis_manipulator_trajectory_generator.cpp.

 {
   manipulator_.setJointValue(tool_name, tool_goal_value);
 }

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void Trajectory::setTrajectoryType ( TrajectoryType trajectory_type )

setTrajectoryType

Parameters

trajectory_type

Definition at line 427 of file robotis_manipulator_trajectory_generator.cpp.

 {
   trajectory_type_ = trajectory_type;
 }

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void Trajectory::updatePresentWaypoint ( Kinematics * kinematics )

updatePresentWaypoint

Parameters

kinematics

Definition at line 379 of file robotis_manipulator_trajectory_generator.cpp.

 {
   //kinematics
   kinematics->solveForwardKinematics(&manipulator_);
 }

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Member Data Documentation

std::map<Name, CustomJointTrajectory *> robotis_manipulator::Trajectory::cus_joint_

private

Definition at line 167 of file robotis_manipulator_trajectory_generator.h.

std::map<Name, CustomTaskTrajectory *> robotis_manipulator::Trajectory::cus_task_

private

Definition at line 168 of file robotis_manipulator_trajectory_generator.h.

JointTrajectory robotis_manipulator::Trajectory::joint_

private

Definition at line 165 of file robotis_manipulator_trajectory_generator.h.

Manipulator robotis_manipulator::Trajectory::manipulator_

private

Definition at line 163 of file robotis_manipulator_trajectory_generator.h.

Name robotis_manipulator::Trajectory::present_control_tool_name_

private

Definition at line 171 of file robotis_manipulator_trajectory_generator.h.

Name robotis_manipulator::Trajectory::present_custom_trajectory_name_

private

Definition at line 170 of file robotis_manipulator_trajectory_generator.h.

TaskTrajectory robotis_manipulator::Trajectory::task_

private

Definition at line 166 of file robotis_manipulator_trajectory_generator.h.

Time robotis_manipulator::Trajectory::trajectory_time_

private

Definition at line 162 of file robotis_manipulator_trajectory_generator.h.

TrajectoryType robotis_manipulator::Trajectory::trajectory_type_

private

Definition at line 161 of file robotis_manipulator_trajectory_generator.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation