aikido::control::TrajectoryExecutor Class Reference

Abstract class for executing trajectories. More...

#include <aikido/control/TrajectoryExecutor.hpp>

Inheritance diagram for aikido::control::TrajectoryExecutor:

Public Member Functions
virtual	~TrajectoryExecutor ()=default
virtual void	validate (const trajectory::Trajectory *traj)=0
	Validate the traj in preparation for execution. More...
virtual std::future< void >	execute (const trajectory::ConstTrajectoryPtr &traj)=0
	Validate and execute traj, setting future upon completion. More...
virtual void	step (const std::chrono::system_clock::time_point &timepoint)=0
	Step to a point in time. More...
virtual void	cancel ()=0
	Cancel the current trajectory. More...

Protected Attributes
std::set< const trajectory::Trajectory * >	mValidatedTrajectories
	Set of trajectories validated by executor. More...
std::chrono::system_clock::time_point	mExecutionStartTime
	Time of previous call. More...

Detailed Description

Abstract class for executing trajectories.

Constructor & Destructor Documentation

~TrajectoryExecutor()

virtual aikido::control::TrajectoryExecutor::~TrajectoryExecutor ( )

virtualdefault

Member Function Documentation

cancel()

virtual void aikido::control::TrajectoryExecutor::cancel ( )

pure virtual

Cancel the current trajectory.

Implemented in aikido::control::ros::RosTrajectoryExecutor, aikido::control::KinematicSimulationTrajectoryExecutor, aikido::control::InstantaneousTrajectoryExecutor, and aikido::control::QueuedTrajectoryExecutor.

execute()

virtual std::future<void> aikido::control::TrajectoryExecutor::execute ( const trajectory::ConstTrajectoryPtr &  traj )

pure virtual

Validate and execute traj, setting future upon completion.

If a trajectory is already running, raise an exception unless the executor supports queuing.

Parameters

traj	Trajectory to be executed.

Returns

future<void> for trajectory execution. If trajectory terminates before completion, future will be set to a runtime_error.

Implemented in aikido::control::ros::RosTrajectoryExecutor, aikido::control::KinematicSimulationTrajectoryExecutor, aikido::control::InstantaneousTrajectoryExecutor, and aikido::control::QueuedTrajectoryExecutor.

step()

virtual void aikido::control::TrajectoryExecutor::step ( const std::chrono::system_clock::time_point &  timepoint )

pure virtual

Step to a point in time.

Note

timepoint can be a time in the future to enable faster than real-time execution.

Parameters

timepoint

Time to simulate to

Implemented in aikido::control::ros::RosTrajectoryExecutor, aikido::control::KinematicSimulationTrajectoryExecutor, aikido::control::QueuedTrajectoryExecutor, and aikido::control::InstantaneousTrajectoryExecutor.

validate()

virtual void aikido::control::TrajectoryExecutor::validate ( const trajectory::Trajectory *  traj )

pure virtual

Validate the traj in preparation for execution.

Parameters

traj	Trajectory to be validated

Implemented in aikido::control::ros::RosTrajectoryExecutor, aikido::control::KinematicSimulationTrajectoryExecutor, aikido::control::InstantaneousTrajectoryExecutor, and aikido::control::QueuedTrajectoryExecutor.

Member Data Documentation

mExecutionStartTime

std::chrono::system_clock::time_point aikido::control::TrajectoryExecutor::mExecutionStartTime

protected

Time of previous call.

mValidatedTrajectories

std::set<const trajectory::Trajectory*> aikido::control::TrajectoryExecutor::mValidatedTrajectories

protected

Set of trajectories validated by executor.