#include <CTrajectoryGenerator.hpp>

Collaboration diagram for scl::CTrajectoryGenerator< task_dof_ >:

Public Member Functions
virtual sBool	initTraj (const sFloat arg_cycle_time, const Eigen::Matrix< sFloat, task_dof_, 1 > &arg_max_pos, const Eigen::Matrix< sFloat, task_dof_, 1 > &arg_max_vel, const Eigen::Matrix< sFloat, task_dof_, 1 > &arg_max_acc, const Eigen::Matrix< sFloat, task_dof_, 1 > &arg_min_pos, const Eigen::Matrix< sFloat, task_dof_, 1 > &arg_min_vel, const Eigen::Matrix< sFloat, task_dof_, 1 > &arg_min_acc)

virtual sBool	setTrajFromTxtFile (const std::string &arg_file, const sLongLong arg_traj_slices, const sBool arg_has_time=true)

virtual sBool	setTrajFromFunc (sFloat(*arg_func)(sFloat), const sLongLong arg_traj_slices, const sFloat arg_time_per_slice, const Eigen::Matrix< sFloat, task_dof_, 1 > &arg_pos_start, const Eigen::Matrix< sFloat, task_dof_, 1 > &arg_scale, const Eigen::Matrix< sFloat, task_dof_, 1 > &arg_stagger)

virtual sBool	getCurrGoal (Eigen::Matrix< sFloat, task_dof_, 1 > &arg_pos_curr, Eigen::Matrix< sFloat, task_dof_, 1 > &arg_vel_curr, Eigen::Matrix< sFloat, task_dof_, 1 > &arg_acc_curr)

virtual sBool	saveCurrState (const Eigen::Matrix< sFloat, task_dof_, 1 > &arg_state, const sFloat arg_time)

virtual sBool	getLoggedPositions (sutil::CMappedList< sFloat, Eigen::Matrix< sFloat, task_dof_, 1 > > &ret_traj)

Protected Attributes
sutil::CMappedList< sFloat, Eigen::Matrix< sFloat, task_dof_, 1 > >	traj_desired_

sutil::CMappedList< sFloat, Eigen::Matrix< sFloat, task_dof_, 1 > >	traj_achieved_

Eigen::Matrix< sFloat, task_dof_, 1 > *	traj_curr_pos_

Eigen::Matrix< sFloat, task_dof_, 1 >	traj_curr_vel_

Eigen::Matrix< sFloat, task_dof_, 1 >	traj_curr_acc_

sFloat	traj_curr_time_

sLongLong	traj_curr_idx_

Eigen::Matrix< sFloat, task_dof_, 1 >	max_pos_

Eigen::Matrix< sFloat, task_dof_, 1 >	max_vel_

Eigen::Matrix< sFloat, task_dof_, 1 >	max_acc_

Eigen::Matrix< sFloat, task_dof_, 1 >	min_pos_

Eigen::Matrix< sFloat, task_dof_, 1 >	min_vel_

Eigen::Matrix< sFloat, task_dof_, 1 >	min_acc_

TypeIOTG	otg_

sBool	traj_has_been_init_

Detailed Description

template<sUInt task_dof_>
class scl::CTrajectoryGenerator< task_dof_ >

A base class for trajectory tracking tasks. Reads a trajectory from file or generates trajectories on the fly.

Use this to build trajectory controllers.

Member Function Documentation

template<sUInt task_dof_>

sBool scl::CTrajectoryGenerator< task_dof_ >::getCurrGoal	(	Eigen::Matrix< sFloat, task_dof_, 1 > &	arg_pos_curr,
		Eigen::Matrix< sFloat, task_dof_, 1 > &	arg_vel_curr,
		Eigen::Matrix< sFloat, task_dof_, 1 > &	arg_acc_curr
	)

virtual

Generates an arbitrary function based trajectory along all the dofs.

Verifies whether the trajectory is achievable. Returns false if there is no current goal (ie. traj is over).

template<sUInt task_dof_>

virtual sBool scl::CTrajectoryGenerator< task_dof_ >::getLoggedPositions ( sutil::CMappedList< sFloat, Eigen::Matrix< sFloat, task_dof_, 1 > > & ret_traj )

virtual

Returns the stored trajectory so far in a mapped list indexed by the time at which the config was logged. Returns false if nothing has been logged yet.

template<sUInt task_dof_>

sBool scl::CTrajectoryGenerator< task_dof_ >::initTraj	(	const sFloat	arg_cycle_time,
		const Eigen::Matrix< sFloat, task_dof_, 1 > &	arg_max_pos,
		const Eigen::Matrix< sFloat, task_dof_, 1 > &	arg_max_vel,
		const Eigen::Matrix< sFloat, task_dof_, 1 > &	arg_max_acc,
		const Eigen::Matrix< sFloat, task_dof_, 1 > &	arg_min_pos,
		const Eigen::Matrix< sFloat, task_dof_, 1 > &	arg_min_vel,
		const Eigen::Matrix< sFloat, task_dof_, 1 > &	arg_min_acc
	)

virtual

Initializes the trajectory related parameters

Parameters

arg_cycle_time	The cycle time of the control loop
arg_max_pos	The current position along the task's directions
arg_max_vel	The maximum velocity along the task's directions
arg_max_acc	The maximum acceleration along the task's directions
arg_min_pos	The minimum position along the task's directions
arg_min_vel	The minimum velocity along the task's directions
arg_min_acc	The minimum acceleration along the task's directions

template<sUInt task_dof_>

sBool scl::CTrajectoryGenerator< task_dof_ >::saveCurrState	(	const Eigen::Matrix< sFloat, task_dof_, 1 > &	arg_state,
		const sFloat	arg_time
	)

virtual

Logs a step in the trajectory. Takes the passed configuration and stores it in the achieved trajectory, indexed by a timestamp.

Parameters

arg_state	The present config measured by the sensors
arg_time	The present time

template<sUInt task_dof_>

sBool scl::CTrajectoryGenerator< task_dof_ >::setTrajFromFunc	(	sFloat(*)(sFloat)	arg_func,
		const sLongLong	arg_traj_slices,
		const sFloat	arg_time_per_slice,
		const Eigen::Matrix< sFloat, task_dof_, 1 > &	arg_pos_start,
		const Eigen::Matrix< sFloat, task_dof_, 1 > &	arg_scale,
		const Eigen::Matrix< sFloat, task_dof_, 1 > &	arg_stagger
	)

virtual

Generates an arbitrary function based trajectory along all the dofs.

Verifies whether the trajectory is achievable. Returns false if the trajectory is impossible to achieve.

Parameters

arg_traj_slices	The number of time slices of the required trajectory
arg_time_per_slice	The time in which each trajectory slice should be achieved
arg_pos_start	The starting position along the task's directions
arg_scale	Scales each successive dof by this value. Ie. dof_i = sin(t)*arg_scale(i);
arg_stagger	Staggers each successive dof by this value. Ie. dof_i = sin(t)+arg_stagger(i);

template<sUInt task_dof_>

sBool scl::CTrajectoryGenerator< task_dof_ >::setTrajFromTxtFile	(	const std::string &	arg_file,
		const sLongLong	arg_traj_slices,
		const sBool	arg_has_time = `true`
	)

virtual

Reads a trajectory and checks the trajectory for errors:

Whether the trajectory dimensions match the task's dofs
Whether the trajectory has a time field

Assumes : A trajectory in a text file. One time slice per line.

Parameters

arg_file	The file to read in a trajectory from
arg_traj_slices	The number of time slices (waypoints) along the trajectory
arg_has_time	Is the first collumn of the trajectory time?

Member Data Documentation

template<sUInt task_dof_>

sutil::CMappedList<sFloat, Eigen::Matrix<sFloat,task_dof_,1> > scl::CTrajectoryGenerator< task_dof_ >::traj_achieved_

protected

The achieved trajectory, indexed by time

template<sUInt task_dof_>

Eigen::Matrix< sFloat, task_dof_, 1 > scl::CTrajectoryGenerator< task_dof_ >::traj_curr_acc_

protected

The current trajectory acceleration. Computed on the fly.

template<sUInt task_dof_>

sLongLong scl::CTrajectoryGenerator< task_dof_ >::traj_curr_idx_

protected

The current trajectory index

template<sUInt task_dof_>

Eigen::Matrix< sFloat, task_dof_, 1 > * scl::CTrajectoryGenerator< task_dof_ >::traj_curr_pos_

protected

The current trajectory position. Index into mapped list.

template<sUInt task_dof_>

sFloat scl::CTrajectoryGenerator< task_dof_ >::traj_curr_time_

protected

The current trajectory time

template<sUInt task_dof_>

Eigen::Matrix< sFloat, task_dof_, 1 > scl::CTrajectoryGenerator< task_dof_ >::traj_curr_vel_

protected

The current trajectory velocity. Computed on the fly.

template<sUInt task_dof_>

sutil::CMappedList<sFloat, Eigen::Matrix<sFloat,task_dof_,1> > scl::CTrajectoryGenerator< task_dof_ >::traj_desired_

protected

The desired trajectory, indexed by time or numerical index

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

/home/samir/Code/control/scl.git/src/scl/trajectory/CTrajectoryGenerator.hpp

Public Member Functions

Protected Attributes

Detailed Description

template<sUInt task_dof_> class scl::CTrajectoryGenerator< task_dof_ >

Member Function Documentation

Member Data Documentation

template<sUInt task_dof_>
class scl::CTrajectoryGenerator< task_dof_ >