Represents a trajectory for and end effector. uses the method effector_spline to create a spline trajectory. Additionally, handles the rotation of the effector as follows: does not rotate during the take off and landing phase, then uses a SLERP algorithm to interpolate the rotation in the quaternion space. More...

#include <ndcurves/helpers/effector_spline_rotation.h>

Collaboration diagram for ndcurves::helpers::effector_spline_rotation:

[legend]

Public Member Functions
template<typename In >
	effector_spline_rotation (In wayPointsBegin, In wayPointsEnd, quat_ref_const_t &to_quat=quat_t(0, 0, 0, 1), quat_ref_const_t &land_quat=quat_t(0, 0, 0, 1), const Point &lift_normal=Eigen::Vector3d::UnitZ(), const Point &land_normal=Eigen::Vector3d::UnitZ(), const Numeric lift_offset=0.02, const Numeric land_offset=0.02, const Time lift_offset_duration=0.02, const Time land_offset_duration=0.02)
	Constructor. Given a set of waypoints, and the normal vector of the start and ending positions, automatically create the spline such that:

template<typename In , typename InQuat >
	effector_spline_rotation (In wayPointsBegin, In wayPointsEnd, InQuat quatWayPointsBegin, InQuat quatWayPointsEnd, const Point &lift_normal=Eigen::Vector3d::UnitZ(), const Point &land_normal=Eigen::Vector3d::UnitZ(), const Numeric lift_offset=0.02, const Numeric land_offset=0.02, const Time lift_offset_duration=0.02, const Time land_offset_duration=0.02)
	Constructor. Given a set of waypoints, and the normal vector of the start and ending positions, automatically create the spline such that:

virtual	~effector_spline_rotation ()

Numeric	min () const

Numeric	max () const

config_t	operator() (const Numeric t) const
	Evaluation of the effector position and rotation at time t.

quat_t	interpolate_quat (const Numeric t) const

Public Attributes
const exact_cubic_t *	spline_

const Eigen::Quaterniond	to_quat_

const Eigen::Quaterniond	land_quat_

const double	time_lift_offset_

const double	time_land_offset_

const exact_cubic_quat_t	quat_spline_

Detailed Description

Represents a trajectory for and end effector. uses the method effector_spline to create a spline trajectory. Additionally, handles the rotation of the effector as follows: does not rotate during the take off and landing phase, then uses a SLERP algorithm to interpolate the rotation in the quaternion space.

Constructor & Destructor Documentation

◆ effector_spline_rotation() [1/2]

template<typename In >

ndcurves::helpers::effector_spline_rotation::effector_spline_rotation	(	In	wayPointsBegin,
		In	wayPointsEnd,
		quat_ref_const_t &	to_quat = `quat_t(0, 0, 0, 1)`,
		quat_ref_const_t &	land_quat = `quat_t(0, 0, 0, 1)`,
		const Point &	lift_normal = `Eigen::Vector3d::UnitZ()`,
		const Point &	land_normal = `Eigen::Vector3d::UnitZ()`,
		const Numeric	lift_offset = `0.02`,
		const Numeric	land_offset = `0.02`,
		const Time	lift_offset_duration = `0.02`,
		const Time	land_offset_duration = `0.02`
	)

inline

Constructor. Given a set of waypoints, and the normal vector of the start and ending positions, automatically create the spline such that:

init and end velocities / accelerations are 0

the effector lifts and lands exactly in the direction of the specified normals.

Parameters

wayPointsBegin	: an iterator pointing to the first element of a waypoint container.
wayPointsEnd	: an iterator pointing to the last element of a waypoint container.
to_quat	: 4D vector, quaternion indicating rotation at take off(x, y, z, w).
land_quat	: 4D vector, quaternion indicating rotation at landing (x, y, z, w).
lift_normal	: normal to be followed by end effector at take-off.
land_normal	: normal to be followed by end effector at landing.
lift_offset	: length of the straight line along normal at take-off.
land_offset	: length of the straight line along normal at landing.
lift_offset_duration	: time travelled along straight line at take-off.
land_offset_duration	: time travelled along straight line at landing.

◆ effector_spline_rotation() [2/2]

template<typename In , typename InQuat >

ndcurves::helpers::effector_spline_rotation::effector_spline_rotation	(	In	wayPointsBegin,
		In	wayPointsEnd,
		InQuat	quatWayPointsBegin,
		InQuat	quatWayPointsEnd,
		const Point &	lift_normal = `Eigen::Vector3d::UnitZ()`,
		const Point &	land_normal = `Eigen::Vector3d::UnitZ()`,
		const Numeric	lift_offset = `0.02`,
		const Numeric	land_offset = `0.02`,
		const Time	lift_offset_duration = `0.02`,
		const Time	land_offset_duration = `0.02`
	)

inline

Constructor. Given a set of waypoints, and the normal vector of the start and ending positions, automatically create the spline such that:

init and end velocities / accelerations are 0

the effector lifts and lands exactly in the direction of the specified normals.

Parameters

wayPointsBegin	: an iterator pointing to the first element of a waypoint container.
wayPointsEnd	: an iterator pointing to the last element of a waypoint container.
quatWayPointsBegin	: en iterator pointing to the first element of a 4D vector (x, y, z, w) container of quaternions indicating rotation at specific time steps.
quatWayPointsEnd	: en iterator pointing to the last element of a 4D vector (x, y, z, w) container of quaternions indicating rotation at specific time steps.
lift_normal	: normal to be followed by end effector at take-off.
land_normal	: normal to be followed by end effector at landing.
lift_offset	: length of the straight line along normal at take-off.
land_offset	: length of the straight line along normal at landing.
lift_offset_duration	: time travelled along straight line at take-off.
land_offset_duration	: time travelled along straight line at landing.

◆ ~effector_spline_rotation()

virtual ndcurves::helpers::effector_spline_rotation::~effector_spline_rotation ( )

inlinevirtual

Member Function Documentation

◆ interpolate_quat()

quat_t ndcurves::helpers::effector_spline_rotation::interpolate_quat ( const Numeric t ) const

inline

◆ max()

Numeric ndcurves::helpers::effector_spline_rotation::max ( ) const

inline

◆ min()

Numeric ndcurves::helpers::effector_spline_rotation::min ( ) const

inline

◆ operator()()

config_t ndcurves::helpers::effector_spline_rotation::operator() ( const Numeric t ) const

inline

Evaluation of the effector position and rotation at time t.

Parameters

t	: the time when to evaluate the spline.

Returns: A 7D vector where the 3 first values are the 3D position and the 4 last are the quaternion describing the rotation.

Member Data Documentation

◆ land_quat_

const Eigen::Quaterniond ndcurves::helpers::effector_spline_rotation::land_quat_

◆ quat_spline_

const exact_cubic_quat_t ndcurves::helpers::effector_spline_rotation::quat_spline_

◆ spline_

const exact_cubic_t* ndcurves::helpers::effector_spline_rotation::spline_

◆ time_land_offset_

const double ndcurves::helpers::effector_spline_rotation::time_land_offset_

◆ time_lift_offset_

const double ndcurves::helpers::effector_spline_rotation::time_lift_offset_

◆ to_quat_

const Eigen::Quaterniond ndcurves::helpers::effector_spline_rotation::to_quat_

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

include/ndcurves/helpers/effector_spline_rotation.h

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ effector_spline_rotation() [1/2]

◆ effector_spline_rotation() [2/2]

◆ ~effector_spline_rotation()

Member Function Documentation

◆ interpolate_quat()

◆ max()

◆ min()

◆ operator()()

Member Data Documentation

◆ land_quat_

◆ quat_spline_

◆ spline_

◆ time_land_offset_

◆ time_lift_offset_

◆ to_quat_