ruckig::Trajectory< DOFs, CustomVector > Class Template Reference

Interface for the generated trajectory. More...

#include <trajectory.hpp>

Public Member Functions
template<size_t D = DOFs, typename std::enable_if<(D >=1), int >::type = 0>
	Trajectory ()
template<size_t D = DOFs, typename std::enable_if<(D==0), int >::type = 0>
	Trajectory (size_t dofs)
template<size_t D = DOFs, typename std::enable_if<(D >=1), int >::type = 0>
	Trajectory (size_t max_number_of_waypoints)
template<size_t D = DOFs, typename std::enable_if<(D==0), int >::type = 0>
	Trajectory (size_t dofs, size_t max_number_of_waypoints)
void	at_time (double time, Vector< double > &new_position, Vector< double > &new_velocity, Vector< double > &new_acceleration, Vector< double > &new_jerk, size_t &new_section) const
	Get the kinematic state, the jerk, and the section at a given time.
void	at_time (double time, Vector< double > &new_position, Vector< double > &new_velocity, Vector< double > &new_acceleration) const
void	at_time (double time, Vector< double > &new_position) const
	Get the position at a given time.
template<size_t D = DOFs, typename std::enable_if<(D==1), int >::type = 0>
void	at_time (double time, double &new_position, double &new_velocity, double &new_acceleration, double &new_jerk, size_t &new_section) const
	Get the kinematic state, the jerk, and the section at a given time without vectors for a single DoF.
template<size_t D = DOFs, typename std::enable_if<(D==1), int >::type = 0>
void	at_time (double time, double &new_position, double &new_velocity, double &new_acceleration) const
	Get the kinematic state at a given time without vectors for a single DoF.
template<size_t D = DOFs, typename std::enable_if<(D==1), int >::type = 0>
void	at_time (double time, double &new_position) const
	Get the position at a given time without vectors for a single DoF.
Container< Vector< Profile > >	get_profiles () const
	Get the underlying profiles of the trajectory.
double	get_duration () const
	Get the duration of the (synchronized) trajectory.
Container< double >	get_intermediate_durations () const
	Get the durations when the intermediate waypoints are reached.
Vector< double >	get_independent_min_durations () const
	Get the minimum duration of each independent DoF.
Vector< PositionExtrema >	get_position_extrema ()
	Get the min/max values of the position for each DoF.
bool	get_first_time_at_position (size_t dof, double position, double &time) const
	Get the time that this trajectory passes a specific position of a given DoF the first time.
void	scale (double position_scale, double time_scale)
	Scale with the position and time of the trajectory (only in Ruckig Pro)

Static Public Member Functions
static Trajectory< DOFs >	merge (const std::vector< Trajectory< DOFs > > &trajectories)
	Merge multiple trajectories together. Make sure that the end and start state of subsequent trajectories are equal (only in Ruckig Pro)

Public Attributes
size_t	degrees_of_freedom

Friends
template<size_t , template< class, size_t > class>
class	Trajectory

Detailed Description

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
class ruckig::Trajectory< DOFs, CustomVector >

Interface for the generated trajectory.

Constructor & Destructor Documentation

Trajectory() [1/4]

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

template<size_t D = DOFs, typename std::enable_if<(D >=1), int >::type = 0>

ruckig::Trajectory< DOFs, CustomVector >::Trajectory ( )

inline

Trajectory() [2/4]

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

template<size_t D = DOFs, typename std::enable_if<(D==0), int >::type = 0>

ruckig::Trajectory< DOFs, CustomVector >::Trajectory ( size_t  dofs )

inline

Trajectory() [3/4]

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

template<size_t D = DOFs, typename std::enable_if<(D >=1), int >::type = 0>

ruckig::Trajectory< DOFs, CustomVector >::Trajectory ( size_t  max_number_of_waypoints )

inline

Trajectory() [4/4]

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

template<size_t D = DOFs, typename std::enable_if<(D==0), int >::type = 0>

ruckig::Trajectory< DOFs, CustomVector >::Trajectory ( size_t  dofs, size_t  max_number_of_waypoints  )

inline

Member Function Documentation

at_time() [1/6]

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

template<size_t D = DOFs, typename std::enable_if<(D==1), int >::type = 0>

void ruckig::Trajectory< DOFs, CustomVector >::at_time ( double  time, double &  new_position  ) const

inline

Get the position at a given time without vectors for a single DoF.

at_time() [2/6]

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

template<size_t D = DOFs, typename std::enable_if<(D==1), int >::type = 0>

void ruckig::Trajectory< DOFs, CustomVector >::at_time ( double  time, double &  new_position, double &  new_velocity, double &  new_acceleration  ) const

inline

Get the kinematic state at a given time without vectors for a single DoF.

at_time() [3/6]

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

template<size_t D = DOFs, typename std::enable_if<(D==1), int >::type = 0>

void ruckig::Trajectory< DOFs, CustomVector >::at_time ( double  time, double &  new_position, double &  new_velocity, double &  new_acceleration, double &  new_jerk, size_t &  new_section  ) const

inline

Get the kinematic state, the jerk, and the section at a given time without vectors for a single DoF.

at_time() [4/6]

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

void ruckig::Trajectory< DOFs, CustomVector >::at_time ( double  time, Vector< double > &  new_position  ) const

inline

Get the position at a given time.

at_time() [5/6]

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

void ruckig::Trajectory< DOFs, CustomVector >::at_time ( double  time, Vector< double > &  new_position, Vector< double > &  new_velocity, Vector< double > &  new_acceleration  ) const

inline

Get the kinematic state at a given time The Python wrapper takes time as an argument, and returns new_position, new_velocity, and new_acceleration instead.

at_time() [6/6]

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

void ruckig::Trajectory< DOFs, CustomVector >::at_time ( double  time, Vector< double > &  new_position, Vector< double > &  new_velocity, Vector< double > &  new_acceleration, Vector< double > &  new_jerk, size_t &  new_section  ) const

inline

Get the kinematic state, the jerk, and the section at a given time.

get_duration()

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

double ruckig::Trajectory< DOFs, CustomVector >::get_duration ( ) const

inline

Get the duration of the (synchronized) trajectory.

get_first_time_at_position()

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

bool ruckig::Trajectory< DOFs, CustomVector >::get_first_time_at_position ( size_t  dof, double  position, double &  time  ) const

inline

Get the time that this trajectory passes a specific position of a given DoF the first time.

If the position is passed, this method returns true, otherwise false The Python wrapper takes dof and position as arguments and returns time (or None) instead

get_independent_min_durations()

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

Vector< double > ruckig::Trajectory< DOFs, CustomVector >::get_independent_min_durations ( ) const

inline

Get the minimum duration of each independent DoF.

get_intermediate_durations()

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

Container< double > ruckig::Trajectory< DOFs, CustomVector >::get_intermediate_durations ( ) const

inline

Get the durations when the intermediate waypoints are reached.

get_position_extrema()

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

Vector< PositionExtrema > ruckig::Trajectory< DOFs, CustomVector >::get_position_extrema ( )

inline

Get the min/max values of the position for each DoF.

get_profiles()

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

Container< Vector< Profile > > ruckig::Trajectory< DOFs, CustomVector >::get_profiles ( ) const

inline

Get the underlying profiles of the trajectory.

merge()

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

static Trajectory< DOFs > ruckig::Trajectory< DOFs, CustomVector >::merge ( const std::vector< Trajectory< DOFs > > &  trajectories )

inlinestatic

Merge multiple trajectories together. Make sure that the end and start state of subsequent trajectories are equal (only in Ruckig Pro)

scale()

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

void ruckig::Trajectory< DOFs, CustomVector >::scale ( double  position_scale, double  time_scale  )

inline

Scale with the position and time of the trajectory (only in Ruckig Pro)

Friends And Related Function Documentation

Trajectory

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

template<size_t , template< class, size_t > class>

friend class Trajectory

friend

Member Data Documentation

degrees_of_freedom

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

size_t ruckig::Trajectory< DOFs, CustomVector >::degrees_of_freedom

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

• /include/ruckig/trajectory.hpp