aikido::trajectory::Trajectory Class Reference

Time-parameterized path in a StateSpace. More...

#include <aikido/trajectory/Trajectory.hpp>

Inheritance diagram for aikido::trajectory::Trajectory:

Public Member Functions
virtual	~Trajectory ()=default
virtual statespace::ConstStateSpacePtr	getStateSpace () const =0
	Gets the StateSpace that this trajectory is defined in. More...
virtual std::size_t	getNumDerivatives () const =0
	Gets an upper bound on the number of non-zero derivatives available in this parameterization. More...
virtual double	getDuration () const =0
	Duration of the trajectory. More...
virtual double	getStartTime () const =0
	Time at which the trajectory starts. More...
virtual double	getEndTime () const =0
	Time at which the trajectory ends. More...
virtual void	evaluate (double _t, statespace::StateSpace::State *_state) const =0
	Evaluates the state of the trajectory at time _t and store the result in a _state allocated by getStateSpace(). More...
virtual void	evaluateDerivative (double _t, int _derivative, Eigen::VectorXd &_tangentVector) const =0
	Evaluates the derivative of the trajectory at time _t. More...

Public Attributes
TrajectoryMetadata	metadata
	Trajectory metadata. More...

Detailed Description

Time-parameterized path in a StateSpace.

The parameterization, number of derivatives available, and continuity of this trajectory is defined by the concrete implementation of this class. The interpretation of the time parameter is also implementation defined: it may represent an actual time time or some other value (e.g. arc length under a distance metric).

Constructor & Destructor Documentation

~Trajectory()

virtual aikido::trajectory::Trajectory::~Trajectory ( )

virtualdefault

Member Function Documentation

evaluate()

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

pure virtual

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

Implemented in aikido::trajectory::BSpline, aikido::trajectory::Spline, and aikido::trajectory::Interpolated.

evaluateDerivative()

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

pure virtual

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

Implemented in aikido::trajectory::BSpline, aikido::trajectory::Spline, and aikido::trajectory::Interpolated.

getDuration()

virtual double aikido::trajectory::Trajectory::getDuration ( ) const

pure virtual

Duration of the trajectory.

Note that getStartTime() may not be zero.

Returns

duration of the trajectory

Implemented in aikido::trajectory::BSpline, aikido::trajectory::Spline, and aikido::trajectory::Interpolated.

getEndTime()

virtual double aikido::trajectory::Trajectory::getEndTime ( ) const

pure virtual

Time at which the trajectory ends.

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

Returns

time at which the trajectory ends

Implemented in aikido::trajectory::BSpline, aikido::trajectory::Spline, and aikido::trajectory::Interpolated.

getNumDerivatives()

virtual std::size_t aikido::trajectory::Trajectory::getNumDerivatives ( ) const

pure virtual

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

Implemented in aikido::trajectory::BSpline, aikido::trajectory::Spline, and aikido::trajectory::Interpolated.

getStartTime()

virtual double aikido::trajectory::Trajectory::getStartTime ( ) const

pure virtual

Time at which the trajectory starts.

This may not be zero.

Returns

time at which the trajectory starts

Implemented in aikido::trajectory::BSpline, aikido::trajectory::Spline, and aikido::trajectory::Interpolated.

getStateSpace()

virtual statespace::ConstStateSpacePtr aikido::trajectory::Trajectory::getStateSpace ( ) const

pure virtual

Gets the StateSpace that this trajectory is defined in.

Returns

state space this trajectory is defined in.

Implemented in aikido::trajectory::BSpline, aikido::trajectory::Spline, and aikido::trajectory::Interpolated.

Member Data Documentation

metadata

TrajectoryMetadata aikido::trajectory::Trajectory::metadata

Trajectory metadata.