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