Description

Interpolate a list of joint waypoints with time motion functions.

#include <TrajectoryInterpolator.h>

Inherits chrono::industrial::TrajectoryInterpolator.

Public Types
enum	SpacefunType { LINEAR, POLY345, CONSTACC, CYCLOIDAL }
	Type of space function used to evaluate trajectory segments.

Public Member Functions
	TrajectoryInterpolatorJointSpace ()
	Default constructor.

virtual	~TrajectoryInterpolatorJointSpace ()
	Default destructor.

	TrajectoryInterpolatorJointSpace (double motion_time_tot, const std::vector< ChVectorDynamic<>> &waypoints, SpacefunType spacefun, std::vector< double > *durations=nullptr)
	Create a joint-space trajectory interpolator from given joint-space waypoints and total motion time. More...

void	Setup (double motion_time_tot, const std::vector< ChVectorDynamic<>> &waypoints, SpacefunType spacefun, std::vector< double > *durations=nullptr)
	Setup interpolator internal data. More...

ChVectorDynamic	GetInterpolation (double time) const
	Get interpolated joints configuration, at given time.

virtual void	SetDurations (const std::vector< double > &durations) override
	Set individual times to travel each part of the trajectory. More...

std::vector< std::shared_ptr< ChFunctionSequence > >	GetMotionFunctions () const
	Get motion functions.

Constructor & Destructor Documentation

chrono::industrial::TrajectoryInterpolatorJointSpace::TrajectoryInterpolatorJointSpace	(	double	motion_time_tot,
		const std::vector< ChVectorDynamic<>> &	waypoints,
		SpacefunType	spacefun,
		std::vector< double > *	durations = `nullptr`
	)

Create a joint-space trajectory interpolator from given joint-space waypoints and total motion time.

Individual times to travel each part of the trajectory

can be manually defined by the user: in this case, their sum must equal total motion time parameter
can be skipped: in this case, durations are automatically computed as weighted average of total path length

void chrono::industrial::TrajectoryInterpolatorJointSpace::SetDurations ( const std::vector< double > & durations )

overridevirtual

Set individual times to travel each part of the trajectory.

NB: needs manual call to Setup() to have effect.

void chrono::industrial::TrajectoryInterpolatorJointSpace::Setup	(	double	motion_time_tot,
		const std::vector< ChVectorDynamic<>> &	waypoints,
		SpacefunType	spacefun,
		std::vector< double > *	durations = `nullptr`
	)

Setup interpolator internal data.

NB: must to be manually called after settings are changed.

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

/builds/uwsbel/chrono/src/chrono_models/robot/industrial/TrajectoryInterpolator.h
/builds/uwsbel/chrono/src/chrono_models/robot/industrial/TrajectoryInterpolator.cpp