Trajectory< T > Class Template Reference

Interface for Trajectories in RobWork. More...

#include <Trajectory.hpp>

Inherited by InterpolatorTrajectory< T >, and TrajectorySequence< T >.

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

Public Member Functions
virtual	~Trajectory ()
	Destructor.
virtual T	x (double t) const =0
	Position of trajectory at time t. More...
virtual T	dx (double t) const =0
	Velocity of trajectory at time t. More...
virtual T	ddx (double t) const =0
	Acceleration of trajectory at time t. More...
virtual double	duration () const =0
	Total duration of the trajectory. More...
virtual double	startTime () const =0
	Returns the startTime of the trajectory. More...
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...
virtual rw::trajectory::TrajectoryIterator< T >::Ptr	getIterator (double dt=1) const =0
	Returns a bi-directional interator for running through the trajectory. More...

Protected Member Functions
	Trajectory ()
	Construct an empty trajectory.

Detailed Description

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

Interface for Trajectories in RobWork.

Member Function Documentation

ddx()

virtual T ddx ( double  t ) const

pure 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

Implemented in TrajectorySequence< T >, TrajectorySequence< U >, InterpolatorTrajectory< T >, InterpolatorTrajectory< U >, BlendedTrajectory< T >, and BlendedTrajectory< U >.

duration()

virtual double duration ( ) const

pure virtual

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.

Implemented in TrajectorySequence< T >, TrajectorySequence< U >, InterpolatorTrajectory< T >, InterpolatorTrajectory< U >, BlendedTrajectory< T >, and BlendedTrajectory< U >.

dx()

virtual T dx ( double  t ) const

pure 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

Implemented in TrajectorySequence< T >, TrajectorySequence< U >, InterpolatorTrajectory< T >, InterpolatorTrajectory< U >, BlendedTrajectory< T >, and BlendedTrajectory< U >.

endTime()

virtual double endTime ( ) const

inlinevirtual

Returns the endTime of the trajectory.

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

Returns

The end time

Reimplemented in BlendedTrajectory< T >, and BlendedTrajectory< U >.

getIterator()

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

pure virtual

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.

Implemented in InterpolatorTrajectory< T >, InterpolatorTrajectory< U >, TrajectorySequence< T >, TrajectorySequence< U >, BlendedTrajectory< T >, and BlendedTrajectory< U >.

getPath()

std::vector<T> getPath ( double  dt, bool  uniform = true  )

inline

Constructs a discrete path based on the trajectory.

If uniform = true the path will be divided into the smallest number of uniform steps for which the time stepsize <= dt.

If uniform = false the path is divided into steps of duration dt, except the last interval which may be shorter to include the end point.

Parameters

dt	[in] Step size
uniform	[in] Whether to sample the path uniformly

Returns

The discrete path.

startTime()

virtual double startTime ( ) const

pure virtual

Returns the startTime of the trajectory.

Returns

Start time

Implemented in TrajectorySequence< T >, TrajectorySequence< U >, InterpolatorTrajectory< T >, InterpolatorTrajectory< U >, BlendedTrajectory< T >, and BlendedTrajectory< U >.

x()

virtual T x ( double  t ) const

pure 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

Implemented in TrajectorySequence< T >, TrajectorySequence< U >, InterpolatorTrajectory< T >, InterpolatorTrajectory< U >, BlendedTrajectory< T >, and BlendedTrajectory< U >.

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

• Trajectory.hpp