Package org.robwork.sdurw_trajectory

Class TrajectoryFactory

java.lang.Object

org.robwork.sdurw_trajectory.TrajectoryFactory

public class TrajectoryFactory
extends java.lang.Object

Trajectory constructors

Constructor Summary

Constructors

Constructor	Description
TrajectoryFactory()
TrajectoryFactory(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	delete()
static long	getCPtr(TrajectoryFactory obj)
static TrajectoryQPtr	makeEmptyQTrajectory()	A trajectory containing no configurations. The end time of the trajectory is negative.
static TrajectoryStatePtr	makeEmptyStateTrajectory()	A trajectory containing no states. The end time of the trajectory is negative.
static TrajectoryStatePtr	makeFixedTrajectory(State state, double duration)	A trajectory with value state and velocity and acceleration 0.
static TrajectoryQPtr	makeFixedTrajectory(Q q, double duration)	A trajectory with a fixed value q and zero velocity and acceleration.
static TrajectoryStatePtr	makeLinearTrajectory(PathState path, WorkCell workcell)	A trajectory for the straight line path path that is linearly traversed with maximum speeds of the devices of workcell. The path must be of length at least two.
static TrajectoryQPtr	makeLinearTrajectory(PathTimedQ path)	A linearly traversed trajectory for the path path.
static TrajectoryStatePtr	makeLinearTrajectory(PathTimedState path)	A trajectory for the path path that is linearly traversed to match the provided time values. The path must be of length at least two.
static TrajectoryQPtr	makeLinearTrajectory(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path, MetricQPtr metric)	Constructs a linear trajectory for the path path in which the time corresponds to the length measured with metric
static TrajectoryQPtr	makeLinearTrajectory(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path, Q speeds)	A linearly traversed trajectory for the path path with time values set to match the joint velocities speed.
static TrajectoryQPtr	makeLinearTrajectory(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path, Device device)	A linearly traversed trajectory for the path path of device device with time values set to match the maximum joint velocities of the device.
static TrajectoryTransform3DPtr	makeLinearTrajectory(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Transform3DT_double_t_t path, vector_d times)	Constructs a linear trajectory for the path path.
static TrajectoryTransform3DPtr	makeLinearTrajectory(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Transform3DT_double_t_t path, MetricTransform3DPtr metric)	Constructs a linear trajectory for the path path.
static TrajectoryStatePtr	makeLinearTrajectoryUnitStep(PathState path)	A trajectory for the straight line path path being traversed with a time distance of 1 between adjacent states. This function is not very useful for anything, but it happens to be used in the trajectory module test.

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

TrajectoryFactory

public TrajectoryFactory(long cPtr,
                         boolean cMemoryOwn)

TrajectoryFactory

public TrajectoryFactory()

Method Detail

getCPtr

public static long getCPtr(TrajectoryFactory obj)

delete

public void delete()

makeFixedTrajectory

public static TrajectoryStatePtr makeFixedTrajectory(State state,
                                                     double duration)

A trajectory with value state and velocity and acceleration
0. The trajectory runs from time 0 to DBL_MAX.

makeFixedTrajectory

public static TrajectoryQPtr makeFixedTrajectory(Q q,
                                                 double duration)

A trajectory with a fixed value q and zero velocity and acceleration.

Parameters:

q - [in] The fixed value of the trajectory

duration - [in] The duration of the trajectory

makeLinearTrajectory

public static TrajectoryStatePtr makeLinearTrajectory(PathTimedState path)

A trajectory for the path path that is
linearly traversed to match the provided time values.

The path must be of length at least two.

makeLinearTrajectory

public static TrajectoryStatePtr makeLinearTrajectory(PathState path,
                                                      WorkCell workcell)

A trajectory for the straight line path path that is
linearly traversed with maximum speeds of the devices of workcell.

The path must be of length at least two.

makeLinearTrajectoryUnitStep

public static TrajectoryStatePtr makeLinearTrajectoryUnitStep(PathState path)

A trajectory for the straight line path path being
traversed with a time distance of 1 between adjacent states.

This function is not very useful for anything, but it happens to be
used in the trajectory module test.

makeLinearTrajectory

public static TrajectoryQPtr makeLinearTrajectory(PathTimedQ path)

A linearly traversed trajectory for the path path.

makeLinearTrajectory

public static TrajectoryQPtr makeLinearTrajectory(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path,
                                                  Q speeds)

A linearly traversed trajectory for the path path with time
values set to match the joint velocities speed.

makeLinearTrajectory

public static TrajectoryQPtr makeLinearTrajectory(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path,
                                                  Device device)

A linearly traversed trajectory for the path path of device
device with time values set to match the maximum joint velocities
of the device.

makeLinearTrajectory

public static TrajectoryQPtr makeLinearTrajectory(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Q_t path,
                                                  MetricQPtr metric)

Constructs a linear trajectory for the path path in which the
time corresponds to the length measured with metric

makeLinearTrajectory

public static TrajectoryTransform3DPtr makeLinearTrajectory(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Transform3DT_double_t_t path,
                                                            vector_d times)

Constructs a linear trajectory for the path path. Times represents the
time for each segment

Parameters:

path - [in] path containing poses

times - [in] times for each segment

makeLinearTrajectory

public static TrajectoryTransform3DPtr makeLinearTrajectory(SWIGTYPE_p_rw__trajectory__PathT_rw__math__Transform3DT_double_t_t path,
                                                            MetricTransform3DPtr metric)

Constructs a linear trajectory for the path path. The metric is used to
calculate the length of each segment

Parameters:

path - [in] path containing poses

metric - [in] metric for calculating length of segments

makeEmptyStateTrajectory

public static TrajectoryStatePtr makeEmptyStateTrajectory()

A trajectory containing no states.

The end time of the trajectory is negative. Calling the get() method
will throw an exception always, because the trajectory range is
empty.

makeEmptyQTrajectory

public static TrajectoryQPtr makeEmptyQTrajectory()

A trajectory containing no configurations.

The end time of the trajectory is negative. Calling the get() method
will throw an exception always, because the trajectory range is
empty.