mc_trajectory::InterpolatedRotation Struct Reference

Describes a trajectory with smoothly interpolate rotation between waypoints. More...

#include <mc_trajectory/InterpolatedRotation.h>

Inheritance diagram for mc_trajectory::InterpolatedRotation:

Collaboration diagram for mc_trajectory::InterpolatedRotation:

Public Types
using	waypoint_t = std::pair< double, Eigen::Matrix3d >

Public Member Functions
	InterpolatedRotation (double duration, const Eigen::Matrix3d &start, const Eigen::Matrix3d &target, const std::vector< waypoint_t > &waypoints={})
	Creates a trajectory that smoothly interpolates rotation in-between waypoints. More...
void	update () override
	Triggers recreation of the curve. Will only occur if the curve parameters were modified (waypoints, target), or the sampling size has changed. More...
Eigen::Matrix3d	eval (double t)
	Evaluate the orientation at time t. More...
void	waypoint (size_t idx, const Eigen::Matrix3d &ori)
	Modifies an existing waypoint. More...
const waypoint_t &	waypoint (size_t idx) const
	Gets an existing waypoint. More...
Public Member Functions inherited from mc_trajectory::Spline< Eigen::Matrix3d, std::vector< std::pair< double, Eigen::Matrix3d > > >
	Spline (double duration, const Eigen::Matrix3d &start, const Eigen::Matrix3d &target, const std::vector< std::pair< double, Eigen::Matrix3d > > &waypoints={})
void	waypoints (const std::vector< std::pair< double, Eigen::Matrix3d > > &waypoints)
	Defines waypoints. More...
const std::vector< std::pair< double, Eigen::Matrix3d > > &	waypoints () const
	Returns waypoints. More...
void	start (const Eigen::Matrix3d &start)
	Starting point for the trajectory at time t=0. More...
const Eigen::Matrix3d &	start () const
	Starting point at time t=0. More...
void	target (const Eigen::Matrix3d &target)
	Sets the spline target. More...
const Eigen::Matrix3d &	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...

Protected Attributes
std::vector< waypoint_t >	all_waypoints_
Protected Attributes inherited from mc_trajectory::Spline< Eigen::Matrix3d, std::vector< std::pair< double, Eigen::Matrix3d > > >
double	duration_
Eigen::Matrix3d	start_
Eigen::Matrix3d	target_
std::vector< std::pair< double, Eigen::Matrix3d > >	waypoints_
unsigned	samplingPoints_
std::vector< Eigen::Matrix3d >	samples_
bool	needsUpdate_

Detailed Description

Describes a trajectory with smoothly interpolate rotation between waypoints.

Member Typedef Documentation

waypoint_t

using mc_trajectory::InterpolatedRotation::waypoint_t = std::pair<double, Eigen::Matrix3d>

Constructor & Destructor Documentation

InterpolatedRotation()

mc_trajectory::InterpolatedRotation::InterpolatedRotation	(	double	duration,
		const Eigen::Matrix3d &	start,
		const Eigen::Matrix3d &	target,
		const std::vector< waypoint_t > &	waypoints = {}
	)

Creates a trajectory that smoothly interpolates rotation in-between waypoints.

Parameters

duration	Duration of the curve
start	Starting orientation at t=0
target	Final orientation at t=duration
waypoints	Optional waypoints as pairs of [time, orientation]. Time should be 0<time<duration.

Member Function Documentation

eval()

Eigen::Matrix3d mc_trajectory::InterpolatedRotation::eval

(

double

t

)

Evaluate the orientation at time t.

Parameters

t	Time at which the curve should be evaluated

Returns

Interpolated orientation at time t

update()

void mc_trajectory::InterpolatedRotation::update ( )

overridevirtual

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

Implements mc_trajectory::Spline< Eigen::Matrix3d, std::vector< std::pair< double, Eigen::Matrix3d > > >.

waypoint() [1/2]

const waypoint_t& mc_trajectory::InterpolatedRotation::waypoint

(

size_t

idx

)

const

Gets an existing waypoint.

Parameters

idx	Id of the waypoint

Returns

Waypoint with index idx

waypoint() [2/2]

void mc_trajectory::InterpolatedRotation::waypoint	(	size_t	idx,
		const Eigen::Matrix3d &	ori
	)

Modifies an existing waypoint.

Parameters

idx	Id of the waypoint
ori	Desired orientation for that waypoint

Member Data Documentation

all_waypoints_

std::vector<waypoint_t> mc_trajectory::InterpolatedRotation::all_waypoints_

protected

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

• include/mc_trajectory/InterpolatedRotation.h