Trajectory that uses an Interpolator to interpolate between waypoints. More...

#include <aikido/trajectory/Interpolated.hpp>

Inheritance diagram for aikido::trajectory::Interpolated:

Classes
struct	Waypoint
	Waypoint in the trajectory. More...

Public Member Functions
	Interpolated (statespace::ConstStateSpacePtr _stateSpace, statespace::ConstInterpolatorPtr _interpolator)
	Constructs an empty trajectory. More...

virtual	~Interpolated ()

void	addWaypoint (double _t, const statespace::StateSpace::State *_state)
	Add a waypoint to the trajectory at the given time. More...

const statespace::StateSpace::State *	getWaypoint (std::size_t _index) const
	Gets a waypoint. More...

double	getWaypointTime (std::size_t _index) const
	Gets the time of a waypoint. More...

std::size_t	getNumWaypoints () const
	Gets the number of waypoints. More...

statespace::ConstStateSpacePtr	getStateSpace () const override
	Gets the `StateSpace` that this trajectory is defined in. More...

statespace::ConstInterpolatorPtr	getInterpolator () const
	Gets the interpolator used to interpolate between waypoints. More...

std::size_t	getNumDerivatives () const override
	Gets an upper bound on the number of non-zero derivatives available in this parameterization. More...

double	getStartTime () const override
	Time at which the trajectory starts. More...

double	getEndTime () const override
	Time at which the trajectory ends. More...

double	getDuration () const override
	Duration of the trajectory. More...

void	evaluate (double _t, statespace::StateSpace::State *_state) const override
	Evaluates the state of the trajectory at time `_t` and store the result in a `_state` allocated by `getStateSpace()`. More...

void	evaluateDerivative (double _t, int _derivative, Eigen::VectorXd &_tangentVector) const override
	Evaluates the derivative of the trajectory at time `_t`. More...

Public Member Functions inherited from aikido::trajectory::Trajectory
virtual	~Trajectory ()=default

Private Member Functions
int	getWaypointIndexAfterTime (double _t) const
	Get the index of the first waypoint whose time value is larger than _t. More...

Private Attributes
statespace::ConstStateSpacePtr	mStateSpace

statespace::ConstInterpolatorPtr	mInterpolator

std::vector< Waypoint >	mWaypoints

Additional Inherited Members
Public Attributes inherited from aikido::trajectory::Trajectory
TrajectoryMetadata	metadata
	Trajectory metadata. More...

Detailed Description

Trajectory that uses an Interpolator to interpolate between waypoints.

Constructor & Destructor Documentation

◆ Interpolated()

aikido::trajectory::Interpolated::Interpolated	(	statespace::ConstStateSpacePtr	_stateSpace,
		statespace::ConstInterpolatorPtr	_interpolator
	)

Constructs an empty trajectory.

Parameters

_stateSpace	state space this trajectory is defined in
_interpolator	interpolator used to interpolate between waypoints

◆ ~Interpolated()

virtual aikido::trajectory::Interpolated::~Interpolated ( )

virtual

Member Function Documentation

◆ addWaypoint()

void aikido::trajectory::Interpolated::addWaypoint	(	double	_t,
		const statespace::StateSpace::State *	_state
	)

Add a waypoint to the trajectory at the given time.

Parameters

_t	time of the waypoint
_state	state at the waypoint

◆ evaluate()

void aikido::trajectory::Interpolated::evaluate	(	double	_t,
		statespace::StateSpace::State *	_state
	)		const

overridevirtual

Evaluates the state of the trajectory at time _t and store the result in a _state allocated by getStateSpace().

The output of this function is implementation-defined if _t is not between getStartTime() and getEndTime().

Parameters

	_t	time parameter
[out]	_state	output state of the trajectory at time `_t`

Implements aikido::trajectory::Trajectory.

◆ evaluateDerivative()

void aikido::trajectory::Interpolated::evaluateDerivative	(	double	_t,
		int	_derivative,
		Eigen::VectorXd &	_tangentVector
	)		const

overridevirtual

Evaluates the derivative of the trajectory at time _t.

The _tangentVector is defined in the local frame (i.e. "body frame") and is implementation-defined if not between getStartTime() and getEndTime(). Derivatives of order higher than getNumDerivatives are guaranteed to be zero.

Parameters

	_t	time parameter
	_derivative	order of derivative
[out]	_tangentVector	output tangent vector in the local frame

Implements aikido::trajectory::Trajectory.

◆ getDuration()

double aikido::trajectory::Interpolated::getDuration ( ) const

overridevirtual

Duration of the trajectory.

Note that getStartTime() may not be zero.

Returns: duration of the trajectory

Implements aikido::trajectory::Trajectory.

◆ getEndTime()

double aikido::trajectory::Interpolated::getEndTime ( ) const

overridevirtual

Time at which the trajectory ends.

This may not be getDuration() if getStartTime() is not zero.

Returns: time at which the trajectory ends

Implements aikido::trajectory::Trajectory.

◆ getInterpolator()

statespace::ConstInterpolatorPtr aikido::trajectory::Interpolated::getInterpolator ( ) const

Gets the interpolator used to interpolate between waypoints.

◆ getNumDerivatives()

std::size_t aikido::trajectory::Interpolated::getNumDerivatives ( ) const

overridevirtual

Gets an upper bound on the number of non-zero derivatives available in this parameterization.

Note that evaluateDerivative may return zero before this value for some trajectories.

Returns: upper bound on the number of non-zero derivatives

Implements aikido::trajectory::Trajectory.

◆ getNumWaypoints()

std::size_t aikido::trajectory::Interpolated::getNumWaypoints ( ) const

Gets the number of waypoints.

◆ getStartTime()

double aikido::trajectory::Interpolated::getStartTime ( ) const

overridevirtual

Time at which the trajectory starts.

This may not be zero.

Returns: time at which the trajectory starts

Implements aikido::trajectory::Trajectory.

◆ getStateSpace()

statespace::ConstStateSpacePtr aikido::trajectory::Interpolated::getStateSpace ( ) const

overridevirtual

Gets the StateSpace that this trajectory is defined in.

Returns: state space this trajectory is defined in.

Implements aikido::trajectory::Trajectory.

◆ getWaypoint()

const statespace::StateSpace::State* aikido::trajectory::Interpolated::getWaypoint ( std::size_t _index ) const

Gets a waypoint.

Parameters

_index waypoint index

Returns: state of the waypoint at index _index

◆ getWaypointIndexAfterTime()

int aikido::trajectory::Interpolated::getWaypointIndexAfterTime ( double _t ) const

private

Get the index of the first waypoint whose time value is larger than _t.

Throws std::domain_error if _t is larger than last waypoint in the trajectory.

◆ getWaypointTime()

double aikido::trajectory::Interpolated::getWaypointTime ( std::size_t _index ) const

Gets the time of a waypoint.

Parameters

_index waypoint index

Returns: time of the waypoint at index _index

Member Data Documentation

◆ mInterpolator

statespace::ConstInterpolatorPtr aikido::trajectory::Interpolated::mInterpolator

private

◆ mStateSpace

statespace::ConstStateSpacePtr aikido::trajectory::Interpolated::mStateSpace

private

◆ mWaypoints

std::vector<Waypoint> aikido::trajectory::Interpolated::mWaypoints

private

Classes

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Interpolated()

◆ ~Interpolated()

Member Function Documentation

◆ addWaypoint()

◆ evaluate()

◆ evaluateDerivative()

◆ getDuration()

◆ getEndTime()

◆ getInterpolator()

◆ getNumDerivatives()

◆ getNumWaypoints()

◆ getStartTime()

◆ getStateSpace()

◆ getWaypoint()

◆ getWaypointIndexAfterTime()

◆ getWaypointTime()

Member Data Documentation

◆ mInterpolator

◆ mStateSpace

◆ mWaypoints