TrajectoryFactory Class Reference

Trajectory constructors. More...

#include <TrajectoryFactory.hpp>

Static Public Member Functions
static rw::core::Ptr< rw::trajectory::Trajectory< rw::kinematics::State > >	makeFixedTrajectory (const rw::kinematics::State &state, double duration)
	A trajectory with value state and velocity and acceleration 0. The trajectory runs from time 0 to DBL_MAX.
static rw::core::Ptr< rw::trajectory::Trajectory< rw::math::Q > >	makeFixedTrajectory (const rw::math::Q &q, double duration)
	A trajectory with a fixed value q and zero velocity and acceleration. More...
static rw::core::Ptr< rw::trajectory::Trajectory< rw::kinematics::State > >	makeLinearTrajectory (const rw::trajectory::Path< rw::trajectory::Timed< rw::kinematics::State >> &path)
	A trajectory for the path path that is linearly traversed to match the provided time values. More...
static rw::core::Ptr< rw::trajectory::Trajectory< rw::kinematics::State > >	makeLinearTrajectory (const rw::trajectory::Path< rw::kinematics::State > &path, const rw::models::WorkCell &workcell)
	A trajectory for the straight line path path that is linearly traversed with maximum speeds of the devices of workcell. More...
static rw::core::Ptr< rw::trajectory::Trajectory< rw::kinematics::State > >	makeLinearTrajectoryUnitStep (const rw::trajectory::Path< rw::kinematics::State > &path)
	A trajectory for the straight line path path being traversed with a time distance of 1 between adjacent states. More...
static QTrajectory::Ptr	makeLinearTrajectory (const rw::trajectory::Path< rw::trajectory::Timed< rw::math::Q >> &path)
	A linearly traversed trajectory for the path path.
static rw::core::Ptr< rw::trajectory::Trajectory< rw::math::Q > >	makeLinearTrajectory (const rw::trajectory::Path< rw::math::Q > &path, const rw::math::Q &speeds)
	A linearly traversed trajectory for the path path with time values set to match the joint velocities speed.
static rw::core::Ptr< rw::trajectory::Trajectory< rw::math::Q > >	makeLinearTrajectory (const rw::trajectory::Path< rw::math::Q > &path, const models::Device &device)
	A linearly traversed trajectory for the path path of device device with time values set to match the maximum joint velocities of the device.
static rw::core::Ptr< rw::trajectory::Trajectory< rw::math::Q > >	makeLinearTrajectory (const rw::trajectory::Path< rw::math::Q > &path, rw::core::Ptr< rw::math::Metric< rw::math::Q >> metric)
	Constructs a linear trajectory for the path path in which the time corresponds to the length measured with metric.
static rw::core::Ptr< rw::trajectory::Trajectory< rw::math::Transform3D< double > > >	makeLinearTrajectory (const Transform3DPath &path, const std::vector< double > &times)
	Constructs a linear trajectory for the path path. Times represents the time for each segment. More...
static rw::core::Ptr< rw::trajectory::Trajectory< rw::math::Transform3D< double > > >	makeLinearTrajectory (const rw::trajectory::Path< rw::math::Transform3D< double >> &path, const rw::core::Ptr< rw::math::Metric< rw::math::Transform3D< double >>> metric)
	Constructs a linear trajectory for the path path. The metric is used to calculate the length of each segment. More...
static rw::core::Ptr< rw::trajectory::Trajectory< rw::kinematics::State > >	makeEmptyStateTrajectory ()
	A trajectory containing no states. More...
static rw::core::Ptr< rw::trajectory::Trajectory< rw::math::Q > >	makeEmptyQTrajectory ()
	A trajectory containing no configurations. More...

Detailed Description

Trajectory constructors.

Member Function Documentation

makeEmptyQTrajectory()

static rw::core::Ptr<rw::trajectory::Trajectory<rw::math::Q> > makeEmptyQTrajectory ( )

static

A trajectory containing no configurations.

The end time of the trajectory is negative. Calling the get() method will throw an exception always, because the trajectory range is empty.

makeEmptyStateTrajectory()

static rw::core::Ptr<rw::trajectory::Trajectory<rw::kinematics::State> > makeEmptyStateTrajectory ( )

static

A trajectory containing no states.

The end time of the trajectory is negative. Calling the get() method will throw an exception always, because the trajectory range is empty.

makeFixedTrajectory()

static rw::core::Ptr<rw::trajectory::Trajectory<rw::math::Q> > makeFixedTrajectory ( const rw::math::Q &  q, double  duration  )

static

A trajectory with a fixed value q and zero velocity and acceleration.

Parameters

q	[in] The fixed value of the trajectory
duration	[in] The duration of the trajectory

makeLinearTrajectory() [1/4]

static rw::core::Ptr<rw::trajectory::Trajectory<rw::kinematics::State> > makeLinearTrajectory ( const rw::trajectory::Path< rw::kinematics::State > &  path, const rw::models::WorkCell &  workcell  )

static

A trajectory for the straight line path path that is linearly traversed with maximum speeds of the devices of workcell.

The path must be of length at least two.

makeLinearTrajectory() [2/4]

static rw::core::Ptr<rw::trajectory::Trajectory<rw::math::Transform3D<double> > > makeLinearTrajectory ( const rw::trajectory::Path< rw::math::Transform3D< double >> &  path, const rw::core::Ptr< rw::math::Metric< rw::math::Transform3D< double >>>  metric  )

static

Constructs a linear trajectory for the path path. The metric is used to calculate the length of each segment.

Parameters

path	[in] path containing poses
metric	[in] metric for calculating length of segments

makeLinearTrajectory() [3/4]

static rw::core::Ptr<rw::trajectory::Trajectory<rw::kinematics::State> > makeLinearTrajectory ( const rw::trajectory::Path< rw::trajectory::Timed< rw::kinematics::State >> &  path )

static

A trajectory for the path path that is linearly traversed to match the provided time values.

The path must be of length at least two.

makeLinearTrajectory() [4/4]

static rw::core::Ptr<rw::trajectory::Trajectory<rw::math::Transform3D<double> > > makeLinearTrajectory ( const Transform3DPath &  path, const std::vector< double > &  times  )

static

Constructs a linear trajectory for the path path. Times represents the time for each segment.

Parameters

path	[in] path containing poses
times	[in] times for each segment

makeLinearTrajectoryUnitStep()

static rw::core::Ptr<rw::trajectory::Trajectory<rw::kinematics::State> > makeLinearTrajectoryUnitStep ( const rw::trajectory::Path< rw::kinematics::State > &  path )

static

A trajectory for the straight line path path being traversed with a time distance of 1 between adjacent states.

This function is not very useful for anything, but it happens to be used in the trajectory module test.

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

• TrajectoryFactory.hpp