RobWorkProject  24.5.15-
Static Public Member Functions | List of all members
TrajectoryFactory Class Reference

Trajectory constructors. More...

#include <TrajectoryFactory.hpp>

Static Public Member Functions

static rw::core::Ptr< rw::trajectory::Trajectory< rw::kinematics::State > > makeFixedTrajectory (const rw::kinematics::State &state, double duration)
 A trajectory with value state and velocity and acceleration 0. The trajectory runs from time 0 to DBL_MAX.
 
static rw::core::Ptr< rw::trajectory::Trajectory< rw::math::Q > > makeFixedTrajectory (const rw::math::Q &q, double duration)
 A trajectory with a fixed value q and zero velocity and acceleration. More...
 
static rw::core::Ptr< rw::trajectory::Trajectory< rw::kinematics::State > > makeLinearTrajectory (const rw::trajectory::Path< rw::trajectory::Timed< rw::kinematics::State >> &path)
 A trajectory for the path path that is linearly traversed to match the provided time values. More...
 
static rw::core::Ptr< rw::trajectory::Trajectory< rw::kinematics::State > > makeLinearTrajectory (const rw::trajectory::Path< rw::kinematics::State > &path, const rw::models::WorkCell &workcell)
 A trajectory for the straight line path path that is linearly traversed with maximum speeds of the devices of workcell. More...
 
static rw::core::Ptr< rw::trajectory::Trajectory< rw::kinematics::State > > makeLinearTrajectoryUnitStep (const rw::trajectory::Path< rw::kinematics::State > &path)
 A trajectory for the straight line path path being traversed with a time distance of 1 between adjacent states. More...
 
static QTrajectory::Ptr makeLinearTrajectory (const rw::trajectory::Path< rw::trajectory::Timed< rw::math::Q >> &path)
 A linearly traversed trajectory for the path path.
 
static rw::core::Ptr< rw::trajectory::Trajectory< rw::math::Q > > makeLinearTrajectory (const rw::trajectory::Path< rw::math::Q > &path, const rw::math::Q &speeds)
 A linearly traversed trajectory for the path path with time values set to match the joint velocities speed.
 
static rw::core::Ptr< rw::trajectory::Trajectory< rw::math::Q > > makeLinearTrajectory (const rw::trajectory::Path< rw::math::Q > &path, const models::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 rw::core::Ptr< rw::trajectory::Trajectory< rw::math::Q > > makeLinearTrajectory (const rw::trajectory::Path< rw::math::Q > &path, rw::core::Ptr< rw::math::Metric< rw::math::Q >> metric)
 Constructs a linear trajectory for the path path in which the time corresponds to the length measured with metric.
 
static rw::core::Ptr< rw::trajectory::Trajectory< rw::math::Transform3D< double > > > makeLinearTrajectory (const Transform3DPath &path, const std::vector< double > &times)
 Constructs a linear trajectory for the path path. Times represents the time for each segment. More...
 
static rw::core::Ptr< rw::trajectory::Trajectory< rw::math::Transform3D< double > > > makeLinearTrajectory (const rw::trajectory::Path< rw::math::Transform3D< double >> &path, const rw::core::Ptr< rw::math::Metric< rw::math::Transform3D< double >>> metric)
 Constructs a linear trajectory for the path path. The metric is used to calculate the length of each segment. More...
 
static rw::core::Ptr< rw::trajectory::Trajectory< rw::kinematics::State > > makeEmptyStateTrajectory ()
 A trajectory containing no states. More...
 
static rw::core::Ptr< rw::trajectory::Trajectory< rw::math::Q > > makeEmptyQTrajectory ()
 A trajectory containing no configurations. More...
 

Detailed Description

Trajectory constructors.

Member Function Documentation

◆ makeEmptyQTrajectory()

static rw::core::Ptr<rw::trajectory::Trajectory<rw::math::Q> > makeEmptyQTrajectory ( )
static

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.

◆ makeEmptyStateTrajectory()

static rw::core::Ptr<rw::trajectory::Trajectory<rw::kinematics::State> > makeEmptyStateTrajectory ( )
static

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.

◆ makeFixedTrajectory()

static rw::core::Ptr<rw::trajectory::Trajectory<rw::math::Q> > makeFixedTrajectory ( const rw::math::Q q,
double  duration 
)
static

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() [1/4]

static rw::core::Ptr<rw::trajectory::Trajectory<rw::kinematics::State> > makeLinearTrajectory ( const rw::trajectory::Path< rw::kinematics::State > &  path,
const rw::models::WorkCell workcell 
)
static

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.

◆ makeLinearTrajectory() [2/4]

static rw::core::Ptr<rw::trajectory::Trajectory<rw::math::Transform3D<double> > > makeLinearTrajectory ( const rw::trajectory::Path< rw::math::Transform3D< double >> &  path,
const rw::core::Ptr< rw::math::Metric< rw::math::Transform3D< double >>>  metric 
)
static

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

◆ makeLinearTrajectory() [3/4]

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() [4/4]

static rw::core::Ptr<rw::trajectory::Trajectory<rw::math::Transform3D<double> > > makeLinearTrajectory ( const Transform3DPath path,
const std::vector< double > &  times 
)
static

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

◆ makeLinearTrajectoryUnitStep()

static rw::core::Ptr<rw::trajectory::Trajectory<rw::kinematics::State> > makeLinearTrajectoryUnitStep ( const rw::trajectory::Path< rw::kinematics::State > &  path)
static

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.


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