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OSCAR::CubicPoly Class Reference
[MotionPlanning]

This class allows the user to create a cubic polynomial trajectory by specifying initial and final positions and accelerations. More...

#include <CubicPoly.h>

Inheritance diagram for OSCAR::CubicPoly:

[legend]List of all members.


Public Methods
	CubicPoly (const Vector &initialPos, const Vector &finalPos, const Vector &initialVel, const Vector &finalVec, const double SampleTime, OSCARError &err=DUMMY_ERROR(noError))
	CubicPoly (const CubicPoly &rhs)
CubicPoly &	operator= (const CubicPoly &rhs)
bool	SetPositionConditions (const Vector &initialPos, const Vector &finalPos)
bool	SetVelocityConditions (const Vector &initialVel, const Vector &finalVel)
bool	GenerateTrajectory (double deltaTime)
bool	GetTrajectory (std::vector< Vector > &Trajectory) const
bool	GetTrajectoryPoint (unsigned int i, Vector &point)
unsigned int	GetTrajectorySize ()
virtual	~CubicPoly ()
Protected Methods
void	initialize ()
Protected Attributes
unsigned int	dof
Vector	initialPosition
Vector	finalPosition
Vector	initialVelocity
Vector	finalVelocity
Vector	a0
Vector	a1
Vector	a2
Vector	a3
double	sampleTime
std::vector< Vector >	trajectory

Detailed Description

Author:: Peter S. March

Constructor & Destructor Documentation

OSCAR::CubicPoly::CubicPoly ( const Vector & initialPos,

const Vector & finalPos,

const Vector & initialVel,

const Vector & finalVec,

const double SampleTime,

OSCARError & err = DUMMY_ERROR(noError)

)

Constructor.
This constructor creates an CubicPoly object.
Parameters:

initialPos An Vector of initial positions

finalPos An Vector of final positions

initialVel An Vector of initial velocities

finalVel An Vector of final velocities

SampleTime This is the delta_time between the setpoints that will be generated in the trajectory.

err An OSCARError object that on return will hold the value of any errors that were generated during the constructor call. If err is not equal to 'noError' you can call GetError() to get the details of the error code.

OSCAR::CubicPoly::CubicPoly ( const CubicPoly & rhs )

Copy Constructor.
This is the Copy constructor for an object of type CubicPoly. Use this to construct an CubicPoly object from an existing CubicPoly object.
Parameters:

rhs An CubicPoly object that will be used to initialize this new object.

virtual OSCAR::CubicPoly::~CubicPoly ( ) [inline, virtual]

Member Function Documentation

bool OSCAR::CubicPoly::GenerateTrajectory ( double deltaTime )

Use this method to generate a trajectory from supplied initial/final conditions;.

Parameters:

deltaTime The total time the trajectory should take.

Returns:
true if the method succeeds and false if method fails. Call GetError() to get detailed error information

bool OSCAR::CubicPoly::GetTrajectory ( std::vector< Vector > & Trajectory ) const

Use this method to retrieve the generated trajectory.

Parameters:

Trajectory An STL vector<HandPose> that the trajectory will be stored in.

Returns:
true if the method succeeds and false if method fails. Call GetError() to get detailed error information

bool OSCAR::CubicPoly::GetTrajectoryPoint ( unsigned int i,

Vector & point

)

Use this method to retrieve a specific point from the internally stored trajectory. If you provide an index which is not valid, this method will fail.

Returns:
true if the method succeeds and false if method fails. Call GetError() to get detailed error information

Parameters:

i The index of the desired point to extract.

point A nx1 vector that will store the desired point.

unsigned int OSCAR::CubicPoly::GetTrajectorySize ( )

Use this method to retrieve the size of the internally stored trajectory. If the trajectory has not been generated, this value will be zero.

Returns:
The size of the internally stored trajectory.

void OSCAR::CubicPoly::initialize ( ) [protected]

CubicPoly& OSCAR::CubicPoly::operator= ( const CubicPoly & rhs )

Assignment operator.
This is the Assignment operator for an object of type CubicPoly.
Parameters:

rhs An CubicPoly object that goes on the right hand side of the = operator.

Returns:
A reference to the object on the left hand side of the = operator.

bool OSCAR::CubicPoly::SetPositionConditions ( const Vector & initialPos,

const Vector & finalPos

)

Use this method to reset the initial conditions for the polynomial trajectory.

Parameters:

initialPos An Vector containing the initial positions

initialVel An Vector containing the initial velocities

Returns:
true if the method succeeds and false if method fails. Call GetError() to get detailed error information

See also:
bool SetFinalConditions(Vector& finalPos, Vector& finalVel)

bool OSCAR::CubicPoly::SetVelocityConditions ( const Vector & initialVel,

const Vector & finalVel

)

Use this method to reset the finaln conditions for the polynomial trajectory.

Parameters:

finalPos An Vector containing the final positions

finalVel An Vector containing the final velocities

Returns:
true if the method succeeds and false if method fails. Call GetError() to get detailed error information

See also:
bool SetInitialConditions(Vector& initialPos, Vector& initialVel)