Classes
class	rotation_spline

class	effector_spline_rotation
	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...

Typedefs
typedef double	Numeric

typedef double	Time

typedef Eigen::Matrix< Numeric, 3, 1 >	Point

typedef std::vector< Point, Eigen::aligned_allocator< Point > >	T_Point

typedef std::pair< double, Point >	Waypoint

typedef std::vector< Waypoint >	T_Waypoint

typedef spline_deriv_constraint< Time, Numeric, 3, true, Point, T_Point >	spline_deriv_constraint_t

typedef spline_deriv_constraint_t::spline_constraints	spline_constraints_t

typedef spline_deriv_constraint_t::exact_cubic_t	exact_cubic_t

typedef spline_deriv_constraint_t::t_spline_t	t_spline_t

typedef spline_deriv_constraint_t::spline_t	spline_t

typedef Eigen::Matrix< Numeric, 4, 1 >	quat_t

typedef Eigen::Ref< quat_t >	quat_ref_t

typedef const Eigen::Ref< const quat_t >	quat_ref_const_t

typedef Eigen::Matrix< Numeric, 7, 1 >	config_t

typedef curve_abc< Time, Numeric, 4, false, quat_t >	curve_abc_quat_t

typedef std::pair< Numeric, quat_t >	waypoint_quat_t

typedef std::vector< waypoint_quat_t >	t_waypoint_quat_t

typedef Eigen::Matrix< Numeric, 1, 1 >	point_one_dim_t

typedef spline_deriv_constraint< Numeric, Numeric, 1, false, point_one_dim_t >	spline_deriv_constraint_one_dim

typedef std::pair< Numeric, point_one_dim_t >	waypoint_one_dim_t

typedef std::vector< waypoint_one_dim_t >	t_waypoint_one_dim_t

typedef exact_cubic< Time, Numeric, 4, false, quat_t, std::vector< quat_t, Eigen::aligned_allocator< quat_t > >, rotation_spline >	exact_cubic_quat_t

Functions
Waypoint	compute_offset (const Waypoint &source, const Point &normal, const Numeric offset, const Time time_offset)

spline_t	make_end_spline (const Point &normal, const Point &from, const Numeric offset, const Time init_time, const Time time_offset)

spline_constraints_t	compute_required_offset_velocity_acceleration (const spline_t &end_spline, const Time time_offset)

template<typename In >
exact_cubic_t *	effector_spline (In wayPointsBegin, In wayPointsEnd, 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)
	Helper method to create a spline typically used to guide the 3d trajectory of a robot end effector. Given a set of waypoints, and the normal vector of the start and ending positions, automatically create the spline such that: More...

Typedef Documentation

◆ config_t

typedef Eigen::Matrix<Numeric, 7, 1> spline::helpers::config_t

◆ curve_abc_quat_t

typedef curve_abc<Time, Numeric, 4, false, quat_t> spline::helpers::curve_abc_quat_t

◆ exact_cubic_quat_t

typedef exact_cubic<Time, Numeric, 4, false, quat_t, std::vector<quat_t, Eigen::aligned_allocator<quat_t> >, rotation_spline> spline::helpers::exact_cubic_quat_t

◆ exact_cubic_t

typedef spline_deriv_constraint_t::exact_cubic_t spline::helpers::exact_cubic_t

◆ Numeric

typedef double spline::helpers::Numeric

◆ Point

typedef Eigen::Matrix<Numeric, 3, 1> spline::helpers::Point

◆ point_one_dim_t

typedef Eigen::Matrix<Numeric, 1, 1> spline::helpers::point_one_dim_t

◆ quat_ref_const_t

typedef const Eigen::Ref<const quat_t> spline::helpers::quat_ref_const_t

◆ quat_ref_t

typedef Eigen::Ref<quat_t> spline::helpers::quat_ref_t

◆ quat_t

typedef Eigen::Matrix<Numeric, 4, 1> spline::helpers::quat_t

◆ spline_constraints_t

typedef spline_deriv_constraint_t::spline_constraints spline::helpers::spline_constraints_t

◆ spline_deriv_constraint_one_dim

typedef spline_deriv_constraint<Numeric, Numeric, 1, false, point_one_dim_t> spline::helpers::spline_deriv_constraint_one_dim

◆ spline_deriv_constraint_t

typedef spline_deriv_constraint<Time, Numeric, 3, true, Point, T_Point> spline::helpers::spline_deriv_constraint_t

◆ spline_t

typedef spline_deriv_constraint_t::spline_t spline::helpers::spline_t

◆ T_Point

typedef std::vector<Point, Eigen::aligned_allocator<Point> > spline::helpers::T_Point

◆ t_spline_t

typedef spline_deriv_constraint_t::t_spline_t spline::helpers::t_spline_t

◆ T_Waypoint

typedef std::vector<Waypoint> spline::helpers::T_Waypoint

◆ t_waypoint_one_dim_t

typedef std::vector<waypoint_one_dim_t> spline::helpers::t_waypoint_one_dim_t

◆ t_waypoint_quat_t

typedef std::vector<waypoint_quat_t> spline::helpers::t_waypoint_quat_t

◆ Time

typedef double spline::helpers::Time

◆ Waypoint

typedef std::pair<double, Point> spline::helpers::Waypoint

◆ waypoint_one_dim_t

typedef std::pair<Numeric, point_one_dim_t> spline::helpers::waypoint_one_dim_t

◆ waypoint_quat_t

typedef std::pair<Numeric, quat_t> spline::helpers::waypoint_quat_t

Function Documentation

◆ compute_offset()

Waypoint spline::helpers::compute_offset	(	const Waypoint &	source,
		const Point &	normal,
		const Numeric	offset,
		const Time	time_offset
	)

◆ compute_required_offset_velocity_acceleration()

spline_constraints_t spline::helpers::compute_required_offset_velocity_acceleration	(	const spline_t &	end_spline,
		const Time	time_offset
	)

◆ effector_spline()

template<typename In >

exact_cubic_t* spline::helpers::effector_spline	(	In	wayPointsBegin,
		In	wayPointsEnd,
		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`
	)

Helper method to create a spline typically used to guide the 3d trajectory of a robot end effector. 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 end of a waypoint container
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

◆ make_end_spline()

spline_t spline::helpers::make_end_spline	(	const Point &	normal,
		const Point &	from,
		const Numeric	offset,
		const Time	init_time,
		const Time	time_offset
	)

Classes

Typedefs

Functions