#include <PathFollowingTrajectory.hpp>

Inheritance diagram for dart::planning::PathFollowingTrajectory:

Classes
struct	TrajectoryStep

Public Member Functions
	PathFollowingTrajectory (const Path &path, const Eigen::VectorXd &maxVelocity, const Eigen::VectorXd &maxAcceleration)

	~PathFollowingTrajectory (void)

bool	isValid () const

double	getDuration () const

Eigen::VectorXd	getPosition (double time) const

Eigen::VectorXd	getVelocity (double time) const

double	getMaxAccelerationError ()

Private Member Functions
bool	getNextSwitchingPoint (double pathPos, TrajectoryStep &nextSwitchingPoint, double &beforeAcceleration, double &afterAcceleration)

bool	getNextAccelerationSwitchingPoint (double pathPos, TrajectoryStep &nextSwitchingPoint, double &beforeAcceleration, double &afterAcceleration)

bool	getNextVelocitySwitchingPoint (double pathPos, TrajectoryStep &nextSwitchingPoint, double &beforeAcceleration, double &afterAcceleration)

bool	integrateForward (std::list< TrajectoryStep > &trajectory, double acceleration)

void	integrateBackward (std::list< TrajectoryStep > &trajectory, std::list< TrajectoryStep > &startTrajectory, double acceleration)

double	getMinMaxPathAcceleration (double pathPosition, double pathVelocity, bool max)

double	getMinMaxPhaseSlope (double pathPosition, double pathVelocity, bool max)

double	getAccelerationMaxPathVelocity (double pathPos)

double	getVelocityMaxPathVelocity (double pathPos)

double	getAccelerationMaxPathVelocityDeriv (double pathPos)

double	getVelocityMaxPathVelocityDeriv (double pathPos)

TrajectoryStep	getIntersection (const std::list< TrajectoryStep > &trajectory, std::list< TrajectoryStep >::iterator &it, const TrajectoryStep &linePoint1, const TrajectoryStep &linePoint2)

double	getSlope (const TrajectoryStep &point1, const TrajectoryStep &point2)

double	getSlope (std::list< TrajectoryStep >::const_iterator lineEnd)

std::list< TrajectoryStep >::const_iterator	getTrajectorySegment (double time) const

Private Attributes
Path	path

Eigen::VectorXd	maxVelocity

Eigen::VectorXd	maxAcceleration

unsigned int	n

bool	valid

std::list< TrajectoryStep >	trajectory

double	cachedTime

std::list< TrajectoryStep >::const_iterator	cachedTrajectorySegment

Static Private Attributes
static const double	eps = 0.000001

static const double	timeStep = 0.001

Constructor & Destructor Documentation

◆ PathFollowingTrajectory()

dart::planning::PathFollowingTrajectory::PathFollowingTrajectory	(	const Path &	path,
		const Eigen::VectorXd &	maxVelocity,
		const Eigen::VectorXd &	maxAcceleration
	)

◆ ~PathFollowingTrajectory()

dart::planning::PathFollowingTrajectory::~PathFollowingTrajectory ( void )

Member Function Documentation

◆ getAccelerationMaxPathVelocity()

double dart::planning::PathFollowingTrajectory::getAccelerationMaxPathVelocity ( double pathPos )

private

◆ getAccelerationMaxPathVelocityDeriv()

double dart::planning::PathFollowingTrajectory::getAccelerationMaxPathVelocityDeriv ( double pathPos )

private

◆ getDuration()

double dart::planning::PathFollowingTrajectory::getDuration ( ) const

virtual

Implements dart::planning::Trajectory.

◆ getIntersection()

PathFollowingTrajectory::TrajectoryStep dart::planning::PathFollowingTrajectory::getIntersection	(	const std::list< TrajectoryStep > &	trajectory,
		std::list< TrajectoryStep >::iterator &	it,
		const TrajectoryStep &	linePoint1,
		const TrajectoryStep &	linePoint2
	)

private

◆ getMaxAccelerationError()

double dart::planning::PathFollowingTrajectory::getMaxAccelerationError ( )

◆ getMinMaxPathAcceleration()

double dart::planning::PathFollowingTrajectory::getMinMaxPathAcceleration	(	double	pathPosition,
		double	pathVelocity,
		bool	max
	)

private

◆ getMinMaxPhaseSlope()

double dart::planning::PathFollowingTrajectory::getMinMaxPhaseSlope	(	double	pathPosition,
		double	pathVelocity,
		bool	max
	)

private

◆ getNextAccelerationSwitchingPoint()

bool dart::planning::PathFollowingTrajectory::getNextAccelerationSwitchingPoint	(	double	pathPos,
		TrajectoryStep &	nextSwitchingPoint,
		double &	beforeAcceleration,
		double &	afterAcceleration
	)

private

◆ getNextSwitchingPoint()

bool dart::planning::PathFollowingTrajectory::getNextSwitchingPoint	(	double	pathPos,
		TrajectoryStep &	nextSwitchingPoint,
		double &	beforeAcceleration,
		double &	afterAcceleration
	)

private

◆ getNextVelocitySwitchingPoint()

bool dart::planning::PathFollowingTrajectory::getNextVelocitySwitchingPoint	(	double	pathPos,
		TrajectoryStep &	nextSwitchingPoint,
		double &	beforeAcceleration,
		double &	afterAcceleration
	)

private

◆ getPosition()

VectorXd dart::planning::PathFollowingTrajectory::getPosition ( double time ) const

virtual

Implements dart::planning::Trajectory.

◆ getSlope() [1/2]

double dart::planning::PathFollowingTrajectory::getSlope	(	const TrajectoryStep &	point1,
		const TrajectoryStep &	point2
	)

inlineprivate

◆ getSlope() [2/2]

double dart::planning::PathFollowingTrajectory::getSlope ( std::list< TrajectoryStep >::const_iterator lineEnd )

inlineprivate

◆ getTrajectorySegment()

list< PathFollowingTrajectory::TrajectoryStep >::const_iterator dart::planning::PathFollowingTrajectory::getTrajectorySegment ( double time ) const

private

◆ getVelocity()

VectorXd dart::planning::PathFollowingTrajectory::getVelocity ( double time ) const

virtual

Implements dart::planning::Trajectory.

◆ getVelocityMaxPathVelocity()

double dart::planning::PathFollowingTrajectory::getVelocityMaxPathVelocity ( double pathPos )

private

◆ getVelocityMaxPathVelocityDeriv()

double dart::planning::PathFollowingTrajectory::getVelocityMaxPathVelocityDeriv ( double pathPos )

private

◆ integrateBackward()

void dart::planning::PathFollowingTrajectory::integrateBackward	(	std::list< TrajectoryStep > &	trajectory,
		std::list< TrajectoryStep > &	startTrajectory,
		double	acceleration
	)

private

◆ integrateForward()

bool dart::planning::PathFollowingTrajectory::integrateForward	(	std::list< TrajectoryStep > &	trajectory,
		double	acceleration
	)

private

◆ isValid()

bool dart::planning::PathFollowingTrajectory::isValid ( ) const

Member Data Documentation

◆ cachedTime

double dart::planning::PathFollowingTrajectory::cachedTime

mutableprivate

◆ cachedTrajectorySegment

std::list<TrajectoryStep>::const_iterator dart::planning::PathFollowingTrajectory::cachedTrajectorySegment

mutableprivate

◆ eps

const double dart::planning::PathFollowingTrajectory::eps = 0.000001

staticprivate

◆ maxAcceleration

Eigen::VectorXd dart::planning::PathFollowingTrajectory::maxAcceleration

private

◆ maxVelocity

Eigen::VectorXd dart::planning::PathFollowingTrajectory::maxVelocity

private

◆ n

unsigned int dart::planning::PathFollowingTrajectory::n

private

◆ path

Path dart::planning::PathFollowingTrajectory::path

private

◆ timeStep

const double dart::planning::PathFollowingTrajectory::timeStep = 0.001

staticprivate

◆ trajectory

std::list<TrajectoryStep> dart::planning::PathFollowingTrajectory::trajectory

private

◆ valid

bool dart::planning::PathFollowingTrajectory::valid

private

Classes

Public Member Functions

Private Member Functions

Private Attributes

Static Private Attributes

Constructor & Destructor Documentation

◆ PathFollowingTrajectory()

◆ ~PathFollowingTrajectory()

Member Function Documentation

◆ getAccelerationMaxPathVelocity()

◆ getAccelerationMaxPathVelocityDeriv()

◆ getDuration()

◆ getIntersection()

◆ getMaxAccelerationError()

◆ getMinMaxPathAcceleration()

◆ getMinMaxPhaseSlope()

◆ getNextAccelerationSwitchingPoint()

◆ getNextSwitchingPoint()

◆ getNextVelocitySwitchingPoint()

◆ getPosition()

◆ getSlope() [1/2]

◆ getSlope() [2/2]

◆ getTrajectorySegment()

◆ getVelocity()

◆ getVelocityMaxPathVelocity()

◆ getVelocityMaxPathVelocityDeriv()

◆ integrateBackward()

◆ integrateForward()

◆ isValid()

Member Data Documentation

◆ cachedTime

◆ cachedTrajectorySegment

◆ eps

◆ maxAcceleration

◆ maxVelocity

◆ n

◆ path

◆ timeStep

◆ trajectory

◆ valid