HEBI C++ API  2.0.1
hebi::trajectory::Trajectory Class Referencefinal

Represents a smooth trajectory through a set of waypoints. More...

#include <trajectory.hpp>

Public Member Functions

 ~Trajectory () noexcept
 Destructor cleans up resources for trajectory. More...
 
size_t getJointCount () const
 The number of independent position trajectories over the same time domain that are managed by this object. More...
 
size_t getWaypointCount () const
 The number of fixed waypoints that each joint is moving through. More...
 
double getStartTime () const
 Get the time (in seconds) at which the defined trajectory begins. More...
 
double getEndTime () const
 Get the time (in seconds) at which the defined trajectory ends. More...
 
double getDuration () const
 The time (in seconds) between the start and end of this trajectory. More...
 
bool getState (double time, VectorXd *position, VectorXd *velocity, VectorXd *acceleration) const
 Returns the position, velocity, and acceleration for a given point in time along the trajectory. More...
 

Static Public Member Functions

static std::shared_ptr< TrajectorycreateUnconstrainedQp (const VectorXd &time_vector, const MatrixXd &positions, const MatrixXd *velocities=nullptr, const MatrixXd *accelerations=nullptr)
 Creates a smooth trajectory through a set of waypoints (position velocity and accelerations defined at particular times). This trajectory wrapper object can create multi-dimensional trajectories (i.e., multiple joints moving together using the same time reference). More...
 

Detailed Description

Represents a smooth trajectory through a set of waypoints.

Constructor & Destructor Documentation

◆ ~Trajectory()

hebi::trajectory::Trajectory::~Trajectory ( )
noexcept

Destructor cleans up resources for trajectory.

Member Function Documentation

◆ createUnconstrainedQp()

std::shared_ptr< Trajectory > hebi::trajectory::Trajectory::createUnconstrainedQp ( const VectorXd &  time_vector,
const MatrixXd &  positions,
const MatrixXd *  velocities = nullptr,
const MatrixXd *  accelerations = nullptr 
)
static

Creates a smooth trajectory through a set of waypoints (position velocity and accelerations defined at particular times). This trajectory wrapper object can create multi-dimensional trajectories (i.e., multiple joints moving together using the same time reference).

Parameters
time_vectorA vector of desired times at which to reach each waypoint; this must be defined (and not NAN for any element).
positionsA matrix of waypoint joint positions (in SI units). The number of rows should be equal to the number of joints, and the number of columns equal to the number of waypoints. Any elements that are NAN will be considered free parameters when solving for a trajectory. Values of +/-infinity are not allowed.
velocitiesAn optional matrix of velocity constraints at the corresponding waypoints; should either be nullptr or matching the size of the positions matrix. Any elements that are NAN will be considered free parameters when solving for a trajectory. Values of +/-infinity are not allowed.
accelerationsAn optional matrix of acceleration constraints at the corresponding waypoints; should either be nullptr or matching the size of the positions matrix. Any elements that are NAN will be considered free parameters when solving for a trajectory. Values of +/-infinity are not allowed.
Returns
A HebiTrajectory object if there were no errors, and the trajectory has been created. An empty shared_ptr indicates that there was an error in creating the trajectory.

◆ getJointCount()

size_t hebi::trajectory::Trajectory::getJointCount ( ) const
inline

The number of independent position trajectories over the same time domain that are managed by this object.

◆ getWaypointCount()

size_t hebi::trajectory::Trajectory::getWaypointCount ( ) const
inline

The number of fixed waypoints that each joint is moving through.

◆ getStartTime()

double hebi::trajectory::Trajectory::getStartTime ( ) const
inline

Get the time (in seconds) at which the defined trajectory begins.

◆ getEndTime()

double hebi::trajectory::Trajectory::getEndTime ( ) const
inline

Get the time (in seconds) at which the defined trajectory ends.

◆ getDuration()

double hebi::trajectory::Trajectory::getDuration ( ) const

The time (in seconds) between the start and end of this trajectory.

◆ getState()

bool hebi::trajectory::Trajectory::getState ( double  time,
VectorXd *  position,
VectorXd *  velocity,
VectorXd *  acceleration 
) const

Returns the position, velocity, and acceleration for a given point in time along the trajectory.

Parameters
timeThe time for which the trajectory state is being queried. This should be between the start and end of the trajectory.
positionIf not nullptr, this vector is filled in with the position along the trajectory for each joint at the given time.
velocityIf not nullptr, this vector is filled in with the velocity along the trajectory for each joint at the given time.
accelerationIf not nullptr, this vector is filled in with the acceleration along the trajectory for each joint at the given time.

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