BlendedTrajectory< T > Class Template Reference

Implements a trajectory with blends between segments. TODO: Briefly describe how. More...

#include <BlendedTrajectory.hpp>

Inherits Trajectory< rw::math::Q >.

Public Member Functions
	BlendedTrajectory ()
	Default constructor creating an empty trajectory.
	BlendedTrajectory (rw::core::Ptr< rw::models::Device > deviceIn, const rw::trajectory::QPath &pathIn, const std::vector< double > &betaIn, const double vscaleIn, const double ascaleIn, const bool verbose=false)
	Constrcuts a trajectory. More...
virtual	~BlendedTrajectory ()
	Destructor.
T	x (double t) const
	Position of trajectory at time t. More...
T	dx (double t) const
	Velocity of trajectory at time t. More...
T	ddx (double t) const
	Acceleration of trajectory at time t. More...
double	duration () const
	Total duration of the trajectory. More...
double	startTime () const
	Returns the startTime of the trajectory. More...
double	endTime () const
	Returns the endTime of the trajectory. More...
virtual rw::trajectory::TrajectoryIterator< T >::Ptr	getIterator (double dt) const
	Returns a bi-directional interator for running through the trajectory. More...
const std::vector< double > &	getBlendStartTimes ()
const std::vector< double > &	getBlendEndTimes ()
Public Member Functions inherited from Trajectory< rw::math::Q >
virtual	~Trajectory ()
	Destructor.
std::vector< rw::math::Q >	getPath (double dt, bool uniform=true)
	Constructs a discrete path based on the trajectory. More...

Additional Inherited Members
Public Types inherited from Trajectory< rw::math::Q >
typedef rw::core::Ptr< Trajectory< rw::math::Q > >	Ptr
	smart pointer type
Protected Member Functions inherited from Trajectory< rw::math::Q >
	Trajectory ()
	Construct an empty trajectory.

Detailed Description

template<class T = rw::math::Q>
class rw::trajectory::BlendedTrajectory< T >

Implements a trajectory with blends between segments. TODO: Briefly describe how.

Constructor & Destructor Documentation

BlendedTrajectory()

BlendedTrajectory	(	rw::core::Ptr< rw::models::Device >	deviceIn,
		const rw::trajectory::QPath &	pathIn,
		const std::vector< double > &	betaIn,
		const double	vscaleIn,
		const double	ascaleIn,
		const bool	verbose = false
	)

Constrcuts a trajectory.

Constructs a trajectory for device deviceIn. Points on the path is described by pathIn and the blend distances in betaIn. The number of blend distances has to be path length -2

To adjust the velocity and acceleration of the robot use vscaleIn and ascaleIn

Parameters

deviceIn	[in] Device to create trajectory for
pathIn	[in] The path for follow
betaIn	[in] Blend distances
vscaleIn	[in] The velocity scale [0;1]
ascaleIn	[in] The acceleration scale [0;1]
verbose	[in] True to print our debug text

Member Function Documentation

ddx()

T ddx ( double  t ) const

virtual

Acceleration of trajectory at time t.

Returns the acceleration of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t	[in] time between startTime() and endTime()

Returns

Acceleration

Implements Trajectory< rw::math::Q >.

duration()

double duration ( ) const

inlinevirtual

Total duration of the trajectory.

The duration of the Trajectory corresponds to the time it takes to run through it.

If the trajectory is empty, then -1 is returned.

Implements Trajectory< rw::math::Q >.

dx()

T dx ( double  t ) const

virtual

Velocity of trajectory at time t.

Returns the velocity of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t	[in] time between startTime() and endTime()

Returns

Velocity

Implements Trajectory< rw::math::Q >.

endTime()

double endTime ( ) const

inlinevirtual

Returns the endTime of the trajectory.

The end time equals startTime() + duration().

Returns

The end time

Reimplemented from Trajectory< rw::math::Q >.

getIterator()

virtual rw::trajectory::TrajectoryIterator<T>::Ptr getIterator ( double  dt ) const

inlinevirtual

Returns a bi-directional interator for running through the trajectory.

For some trajectory types it may be significantly more efficient to run through using an iterator, rather than using random access.

Parameters

dt	[in] The default time step used when using the ++ or – operators in the iterator

Pointer to the iterator. The pointer has ownership.

Implements Trajectory< rw::math::Q >.

startTime()

double startTime ( ) const

inlinevirtual

Returns the startTime of the trajectory.

Returns

Start time

Implements Trajectory< rw::math::Q >.

x()

T x ( double  t ) const

virtual

Position of trajectory at time t.

Returns the position of the trajectory at time t \(\in[startTime(), endTime()]\).

Parameters

t	[in] time between startTime() and endTime()

Returns

Position

Implements Trajectory< rw::math::Q >.

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

• BlendedTrajectory.hpp