Represents an Exact Cubic spline : a curve that passes exactly through waypoints in position, while respecting optional constraints on its initial and final velocity and acceleration. More...

#include <mc_trajectory/ExactCubic.h>

Inheritance diagram for mc_trajectory::ExactCubic:

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Collaboration diagram for mc_trajectory::ExactCubic:

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Public Types
using	point_t = Eigen::Vector3d

using	waypoint_t = std::pair< double, point_t >

using	exact_cubic_t = ndcurves::exact_cubic< double, double, false, point_t >

using	spline_constraints_t = ndcurves::curve_constraints< point_t >

Public Member Functions
	ExactCubic (double duration, const point_t &start, const point_t &target, const std::vector< waypoint_t > &waypoints={}, const point_t &init_vel={}, const point_t &init_acc={}, const point_t &end_vel={}, const point_t &end_acc={})

void	update () override
	Triggers recreation of the curve. Will only occur if the curve parameters were modified (waypoints, target, constraints), or the sampling size has changed. More...

void	waypoint (size_t idx, const point_t &waypoint)
	Updates the position of an existing waypoint. More...

void	waypoint (size_t idx, const double t)
	Updates the time at which an existing waypoint should be reached. More...

const waypoint_t &	waypoint (size_t idx) const
	Gets position of a waypoint. More...

double	waypointTime (size_t idx) const
	Gets the time at which a waypoint should be reached. More...

void	constraints (const point_t &init_vel, const point_t &init_acc, const point_t &end_vel, const point_t &end_acc)
	Defines the initial/final velocity and acceleration constraints for the curve. More...

const point_t &	init_vel () const
	Gets the curve's initial velocity. More...

const point_t &	init_acc () const
	Gets the curve's initial acceleration. More...

const point_t &	end_vel () const
	Gets the curve's final velocity. More...

const point_t &	end_acc () const
	Gets the curve's final acceleration. More...

std::vector< Eigen::Vector3d >	splev (double t, unsigned int der=0)
	Computes the position along the curve at time t, and its derivatives up to the nth order (typically velocity, acceleration) More...

std::vector< Eigen::Vector3d >	sampleTrajectory ()
	Sample positions along the trajectory (for visualization purposes) More...

void	addToGUI (mc_rtc::gui::StateBuilder &gui, const std::vector< std::string > &category)
	Add GUI elements to control the curve's waypoints and targets. More...

Public Member Functions inherited from mc_trajectory::Spline< Eigen::Vector3d, std::vector< std::pair< double, Eigen::Vector3d > > >
	Spline (double duration, const Eigen::Vector3d &start, const Eigen::Vector3d &target, const std::vector< std::pair< double, Eigen::Vector3d > > &waypoints={})

void	waypoints (const std::vector< std::pair< double, Eigen::Vector3d > > &waypoints)
	Defines waypoints. More...

const std::vector< std::pair< double, Eigen::Vector3d > > &	waypoints () const
	Returns waypoints. More...

void	start (const Eigen::Vector3d &start)
	Starting point for the trajectory at time t=0. More...

const Eigen::Vector3d &	start () const
	Starting point at time t=0. More...

void	target (const Eigen::Vector3d &target)
	Sets the spline target. More...

const Eigen::Vector3d &	target () const
	Gets the spline target position. More...

void	samplingPoints (unsigned s)
	Number of sampling points for the trajectory visualization. More...

unsigned	samplingPoints () const
	Gets number of samples. More...

Additional Inherited Members
Protected Attributes inherited from mc_trajectory::Spline< Eigen::Vector3d, std::vector< std::pair< double, Eigen::Vector3d > > >
double	duration_

Eigen::Vector3d	start_

Eigen::Vector3d	target_

std::vector< std::pair< double, Eigen::Vector3d > >	waypoints_

unsigned	samplingPoints_

std::vector< Eigen::Vector3d >	samples_

bool	needsUpdate_

Detailed Description

Represents an Exact Cubic spline : a curve that passes exactly through waypoints in position, while respecting optional constraints on its initial and final velocity and acceleration.

Member Typedef Documentation

◆ exact_cubic_t

using mc_trajectory::ExactCubic::exact_cubic_t = ndcurves::exact_cubic<double, double, false, point_t>

◆ point_t

using mc_trajectory::ExactCubic::point_t = Eigen::Vector3d

◆ spline_constraints_t

using mc_trajectory::ExactCubic::spline_constraints_t = ndcurves::curve_constraints<point_t>

◆ waypoint_t

using mc_trajectory::ExactCubic::waypoint_t = std::pair<double, point_t>

Constructor & Destructor Documentation

◆ ExactCubic()

mc_trajectory::ExactCubic::ExactCubic	(	double	duration,
		const point_t &	start,
		const point_t &	target,
		const std::vector< waypoint_t > &	waypoints = `{}`,
		const point_t &	init_vel = `{}`,
		const point_t &	init_acc = `{}`,
		const point_t &	end_vel = `{}`,
		const point_t &	end_acc = `{}`
	)

Member Function Documentation

◆ addToGUI()

void mc_trajectory::ExactCubic::addToGUI	(	mc_rtc::gui::StateBuilder &	gui,
		const std::vector< std::string > &	category
	)

Add GUI elements to control the curve's waypoints and targets.

Parameters

gui	GUI to which the task should be added
category	category in the GUI to which the curve's control belong to

◆ constraints()

void mc_trajectory::ExactCubic::constraints	(	const point_t &	init_vel,
		const point_t &	init_acc,
		const point_t &	end_vel,
		const point_t &	end_acc
	)

Defines the initial/final velocity and acceleration constraints for the curve.

Parameters

init_vel	Initial velocity
init_acc	Initial acceleration
end_vel	Final velocity
end_acc	Final acceleration

◆ end_acc()

const point_t& mc_trajectory::ExactCubic::end_acc ( ) const

Gets the curve's final acceleration.

Returns: final acceleration

◆ end_vel()

const point_t& mc_trajectory::ExactCubic::end_vel ( ) const

Gets the curve's final velocity.

Returns: final velocity

◆ init_acc()

const point_t& mc_trajectory::ExactCubic::init_acc ( ) const

Gets the curve's initial acceleration.

Returns: initial acceleration

◆ init_vel()

const point_t& mc_trajectory::ExactCubic::init_vel ( ) const

Gets the curve's initial velocity.

Returns: initial velocity

◆ sampleTrajectory()

std::vector<Eigen::Vector3d> mc_trajectory::ExactCubic::sampleTrajectory ( )

Sample positions along the trajectory (for visualization purposes)

Returns: Evenly sampled positions along the trajectory.

◆ splev()

std::vector<Eigen::Vector3d> mc_trajectory::ExactCubic::splev	(	double	t,
		unsigned int	der = `0`
	)

Computes the position along the curve at time t, and its derivatives up to the nth order (typically velocity, acceleration)

Parameters

t	time at which the curve should be evaluated
der	derivation order

Returns: The position and its derivatives along the curve at time t.

◆ update()

void mc_trajectory::ExactCubic::update ( )

overridevirtual

Triggers recreation of the curve. Will only occur if the curve parameters were modified (waypoints, target, constraints), or the sampling size has changed.

Implements mc_trajectory::Spline< Eigen::Vector3d, std::vector< std::pair< double, Eigen::Vector3d > > >.

◆ waypoint() [1/3]

const waypoint_t& mc_trajectory::ExactCubic::waypoint ( size_t idx ) const

Gets position of a waypoint.

Parameters

idx	waypoint id

Returns: Position of the waypoint idx

◆ waypoint() [2/3]

void mc_trajectory::ExactCubic::waypoint	(	size_t	idx,
		const double	t
	)

Updates the time at which an existing waypoint should be reached.

Parameters

idx	id of the waypoint
t	time at which the waypoint should be reached

◆ waypoint() [3/3]

void mc_trajectory::ExactCubic::waypoint	(	size_t	idx,
		const point_t &	waypoint
	)

Updates the position of an existing waypoint.

Parameters

idx	id of the waypoint
waypoint	desired position

◆ waypointTime()

double mc_trajectory::ExactCubic::waypointTime ( size_t idx ) const

Gets the time at which a waypoint should be reached.

Parameters

idx	waypoint id

Returns: Waypoint time

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

include/mc_trajectory/ExactCubic.h

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ exact_cubic_t

◆ point_t

◆ spline_constraints_t

◆ waypoint_t

Constructor & Destructor Documentation

◆ ExactCubic()

Member Function Documentation

◆ addToGUI()

◆ constraints()

◆ end_acc()

◆ end_vel()

◆ init_acc()

◆ init_vel()

◆ sampleTrajectory()

◆ splev()

◆ update()

◆ waypoint() [1/3]

◆ waypoint() [2/3]

◆ waypoint() [3/3]

◆ waypointTime()