hekateros::HekJointTrajectoryPoint Class Reference

Joint trajectory point class. More...

#include <hekTraj.h>

Public Member Functions
	HekJointTrajectoryPoint ()
	Default constructor.
	HekJointTrajectoryPoint (const HekJointTrajectoryPoint &src)
	Copy constructor.
	~HekJointTrajectoryPoint ()
	Destructor.
HekJointTrajectoryPoint	operator= (const HekJointTrajectoryPoint &rhs)
	Assignment operator. More...
uint_t	getTimeFromStart ()
	Get time from start. More...
void	setTimeFromStart (uint_t uTimeFromStart)
	Set time from start. More...
size_t	getNumPoints ()
	Get the number of joint points in trajectory. More...
void	append (const std::string &strName, double fPosition, double fVelocity, double fAcceleration=0.0)
	Append joint point to end of trajectory. More...
HekJointTraj &	operator[] (const size_t i)
	Subscript operator to get reference to joint point at the given index. More...
void	clear ()
	Clear data.

Protected Attributes
std::vector< HekJointTraj >	m_trajectory
	trajectory
uint_t	m_uTimeFromStart
	duration

Detailed Description

Joint trajectory point class.

A joint trajectory point (T0, T1, ..., Tn-1) specifies the goal position, velocity, and acceleration for a set of joints (kinematic chain) Ti, i=0,n-1.

Definition at line 180 of file hekTraj.h.

Member Function Documentation

void hekateros::HekJointTrajectoryPoint::append ( const std::string &  strName, double  fPosition, double  fVelocity, double  fAcceleration = 0.0  )

inline

Append joint point to end of trajectory.

Parameters

strName	Joint name.
fPosition	Joint position.
fVelocity	Joint velocity.
fAcceleration	Joint acceleration.

Definition at line 264 of file hekTraj.h.

Referenced by hekateros::HekRobot::closeGripper(), hekateros::HekRobot::gotoBalancedPos(), hekateros::HekRobot::gotoParkedPos(), hekateros::HekRobot::gotoZeroPtPos(), and hekateros::HekRobot::openGripper().

    {
      HekJointTraj jointPoint(strName, fPosition, fVelocity, fAcceleration);
      m_trajectory.push_back(jointPoint);
    }

size_t hekateros::HekJointTrajectoryPoint::getNumPoints ( )

inline

Get the number of joint points in trajectory.

Returns

Number of points.

Definition at line 251 of file hekTraj.h.

Referenced by hekateros::HekKinematics::move().

    {
      return m_trajectory.size();
    }

uint_t hekateros::HekJointTrajectoryPoint::getTimeFromStart ( )

inline

Get time from start.

Todo:

TODO need to understand ROS meaning of this.

Returns

Duration.

Definition at line 229 of file hekTraj.h.

    {
      return m_uTimeFromStart;
    }

HekJointTrajectoryPoint hekateros::HekJointTrajectoryPoint::operator= ( const HekJointTrajectoryPoint &  rhs )

inline

Assignment operator.

Parameters

rhs	Right hand side object.

Returns

Returns copy of this.

Definition at line 214 of file hekTraj.h.

References m_trajectory, and m_uTimeFromStart.

    {
      m_uTimeFromStart  = rhs.m_uTimeFromStart;
      m_trajectory      = rhs.m_trajectory;

      return *this;
    }

HekJointTraj& hekateros::HekJointTrajectoryPoint::operator[] ( const size_t  i )

inline

Subscript operator to get reference to joint point at the given index.

Big boy warranty. No out of bound checks are made.

Parameters

i

Index.

Returns

Joint point.

Definition at line 283 of file hekTraj.h.

    {
      return m_trajectory[i];
    }

void hekateros::HekJointTrajectoryPoint::setTimeFromStart ( uint_t  uTimeFromStart )

inline

Set time from start.

Todo:

TODO need to understand ROS meaning of this.

Parameters

uTimeFromStart

Duration.

Definition at line 241 of file hekTraj.h.

    {
      m_uTimeFromStart = uTimeFromStart;
    }

---

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

• include/Hekateros/hekTraj.h