RobWorkProject: InterpolatorTrajectory< T

Sequence of interpolators and blends giving a trajectory. More...

#include <InterpolatorTrajectory.hpp>

Public Types
typedef rw::core::Ptr< InterpolatorTrajectory< T > >	Ptr
	smart pointer type

Public Types inherited from Trajectory< T >
typedef rw::core::Ptr< Trajectory< T > >	Ptr
	smart pointer type

Public Member Functions
	InterpolatorTrajectory (double startTime=0)
	Construct an empty trajectory.

virtual	~InterpolatorTrajectory ()
	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...

rw::trajectory::TrajectoryIterator< T >::Ptr	getIterator (double dt=1) const
	Returns a bi-directional interator for running through the trajectory. More...

template<template< typename > class I>
void	add (const I< T > &interpolator)
	Adds an interpolator to the end of the trajectory. More...

template<template< typename > class B, template< typename > class I>
void	add (const B< T > &blend, const I< T > &interpolator)
	Adds a blend and an interpolator to the trajectory. More...

void	add (rw::core::Ptr< Interpolator< T >> interpolator)
	Adds an interpolator to the end of the trajectory. More...

void	add (rw::core::Ptr< Blend< T >> blend, rw::core::Ptr< Interpolator< T >> interpolator)
	Adds a blend and an interpolator to the trajectory. More...

void	add (InterpolatorTrajectory< T > *trajectory)
	Append trajectory to the end. More...

size_t	getSegmentsCount () const
	Returns the number of segments. More...

std::pair< rw::core::Ptr< Blend< T > >, rw::core::Ptr< Interpolator< T > > >	getSegment (size_t index) const

Public Member Functions inherited from Trajectory< T >
virtual	~Trajectory ()
	Destructor.

virtual double	endTime () const
	Returns the endTime of the trajectory. More...

std::vector< T >	getPath (double dt, bool uniform=true)
	Constructs a discrete path based on the trajectory. More...

Friends
class	TrajectoryIterator< T >
	Declares TrajectoryIterator as friend to allow it to use the private parts of Trajectory.

Additional Inherited Members
Protected Member Functions inherited from Trajectory< T >
	Trajectory ()
	Construct an empty trajectory.

Detailed Description

template<class T>
class rw::trajectory::InterpolatorTrajectory< T >

Sequence of interpolators and blends giving a trajectory.

A trajectory is defined as a sequence of interpolators and blends. Multiple interpolators can follow each other, whereas a Blend must be preceded and followed by interpolators.

The length of a Trajectory is defined as the time it takes to go from start to finish.

When performing random queries the trajectory needs to do a binary search through all interpolators and blend, giving the random access an O(lg n) complexity.

For accessing multiple consecutive values use TrajectoryInterpolator.

Example of usage:

Transform3D<> T1(Vector3D<>(0,0,0), EAA<>(0,0,0));
Transform3D<> T2(Vector3D<>(1,1,0), EAA<>(1,1,0));
Transform3D<> T3(Vector3D<>(2,0,0), EAA<>(2,2,0));
 
LinearInterpolator<Transform3D<> >::Ptr cartInt1 =
    ownedPtr(new LinearInterpolator<Transform3D<> >(T1, T2, 1));
LinearInterpolator<Transform3D<> >::Ptr cartInt2 =
    ownedPtr(new LinearInterpolator<Transform3D<> >(T2, T3, 1));
ParabolicBlend<Transform3D<> >::Ptr blend1 =
    ownedPtr(new ParabolicBlend<Transform3D<> >(cartInt1, cartInt2, 0.25));
InterpolatorTrajectory<Transform3D<> > trajectory;
trajectory.add(cartInt1);
trajectory.add(blend1, cartInt2);
std::ofstream out("test.dat");
for (double t = 0; t<=trajectory.duration(); t += dt) {
     Transform3D<> x = trajectory.x(t);
     out<<t<<" "<<x.P()(0)<<" "<<x.P()(1)<<" "<<x.P()(2)<<std::endl;
}
out.close();

Member Function Documentation

◆ add() [1/5]

void add	(	const B< T > &	blend,
		const I< T > &	interpolator
	)

inline

Adds a blend and an interpolator to the trajectory.

The Blend added is used to blend between what was previously the last Interpolator of the trajectory onto interpolator, which become the new last interpolator of the trajectory.

When adding the interpolator and blend the Trajectory makes a copy of it

Parameters

blend	[in] the blend to add
interpolator	[in] the interpolator to add

◆ add() [2/5]

void add ( const I< T > & interpolator )

inline

Adds an interpolator to the end of the trajectory.

When adding the interpolator the Trajectory makes a copy of it

Parameters

interpolator [in] The interpolator to add

◆ add() [3/5]

void add ( InterpolatorTrajectory< T > * trajectory )

inline

Append trajectory to the end.

When adding a Trajectory all interpolators and blends of trajectory is added in sequence.

Ownership of the interpolator and blends are shared using std::shared_ptr

Parameters

trajectory [in] Trajectory to append

◆ add() [4/5]

void add	(	rw::core::Ptr< Blend< T >>	blend,
		rw::core::Ptr< Interpolator< T >>	interpolator
	)

inline

Adds a blend and an interpolator to the trajectory.

The Blend added is used to blend between what was previously the last Interpolator of the trajectory onto interpolator, which become the new last interpolator of the trajectory.

Parameters

blend	[in] the blend to add
interpolator	[in] the interpolator to add

◆ add() [5/5]

void add ( rw::core::Ptr< Interpolator< T >> interpolator )

inline

Adds an interpolator to the end of the trajectory.

When adding the interpolator the Trajectory takes ownership.

Parameters

interpolator [in] The interpolator to add

◆ ddx()

T ddx ( double t ) const

inlinevirtual

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< T >.

◆ 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< T >.

◆ dx()

T dx ( double t ) const

inlinevirtual

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< T >.

◆ getIterator()

rw::trajectory::TrajectoryIterator<T>::Ptr getIterator ( double dt = 1 ) 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< T >.

◆ getSegmentsCount()

size_t getSegmentsCount ( ) const

inline

Returns the number of segments.

A segment contains a description interpolator and the blend used to blend from the previous interpolator

◆ startTime()

double startTime ( ) const

inlinevirtual

Returns the startTime of the trajectory.

Returns: Start time

Implements Trajectory< T >.

◆ x()

T x ( double t ) const

inlinevirtual

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< T >.

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

InterpolatorTrajectory.hpp

Public Types

Public Member Functions

Friends

Additional Inherited Members

Detailed Description

template<class T> class rw::trajectory::InterpolatorTrajectory< T >

Member Function Documentation

◆ add() [1/5]

◆ add() [2/5]

◆ add() [3/5]

◆ add() [4/5]

◆ add() [5/5]

◆ ddx()

◆ duration()

◆ dx()

◆ getIterator()

◆ getSegmentsCount()

◆ startTime()

◆ x()

template<class T>
class rw::trajectory::InterpolatorTrajectory< T >