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OSCAR::FifthOrderPoly Class Reference
[MotionPlanning]

This class allows the user to create a fifth order polynomial trajectory by specifying initial and final conditions for positions,velocities and accelerations. More...

#include <FifthOrderPoly.h>

Inheritance diagram for OSCAR::FifthOrderPoly:

[legend]List of all members.


Public Methods
	FifthOrderPoly (const Vector &initialPos, const Vector &finalPos, const Vector &initialVel, const Vector &finalVel, const Vector &initialAcc, const Vector &finalAcc, const double SampleTime, OSCARError &err=DUMMY_ERROR(noError))
	FifthOrderPoly (const FifthOrderPoly &rhs)
FifthOrderPoly &	operator= (const FifthOrderPoly &rhs)
bool	SetPositionConditions (const Vector &initialPos, const Vector &finalPos)
bool	SetVelocityConditions (const Vector &initialVel, const Vector &finalVel)
bool	SetAccelerationConditions (const Vector &initialAcc, const Vector &finalAcc)
bool	GenerateTrajectory (double deltaTime)
bool	GetTrajectory (std::vector< Vector > &Trajectory) const
bool	GetVelocityTrajectory (std::vector< Vector > &vTrajectory) const
bool	GetAccelerationTrajectory (std::vector< Vector > &aTrajectory) const
virtual	~FifthOrderPoly ()
Protected Methods
void	initialize ()
Protected Attributes
unsigned int	dof
Vector	initialPosition
Vector	finalPosition
Vector	initialVelocity
Vector	finalVelocity
Vector	initialAcceleration
Vector	finalAcceleration
Vector	a0
Vector	a1
Vector	a2
Vector	a3
Vector	a4
Vector	a5
double	sampleTime
std::vector< Vector >	trajectory
std::vector< Vector >	velTrajectory
std::vector< Vector >	accelTrajectory

Detailed Description

Author:: Peter S. March and Jeremy Sevier

Constructor & Destructor Documentation

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

const Vector & finalPos,

const Vector & initialVel,

const Vector & finalVel,

const Vector & initialAcc,

const Vector & finalAcc,

const double SampleTime,

OSCARError & err = DUMMY_ERROR(noError)

)

Constructor.
This constructor creates an FifthOrderPoly 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

initialAcc An Vector of initial accelerations

finalAcc An Vector of final accelerations

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::FifthOrderPoly::FifthOrderPoly ( const FifthOrderPoly & rhs )

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

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

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

Member Function Documentation

bool OSCAR::FifthOrderPoly::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::FifthOrderPoly::GetAccelerationTrajectory ( std::vector< Vector > & aTrajectory ) const

Use this method to retrieve the generated acceleration 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::FifthOrderPoly::GetTrajectory ( std::vector< Vector > & Trajectory ) const

Use this method to retrieve the generated position 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::FifthOrderPoly::GetVelocityTrajectory ( std::vector< Vector > & vTrajectory ) const

Use this method to retrieve the generated velocity 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

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

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

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

rhs An FifthOrderPoly 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::FifthOrderPoly::SetAccelerationConditions ( const Vector & initialAcc,

const Vector & finalAcc

)

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

Parameters:

initialAcc An Vector containing the initial accelerations

finalAcc An Vector containing the final accelerations

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)

bool OSCAR::FifthOrderPoly::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

finalPos An Vector containing the final positions

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::FifthOrderPoly::SetVelocityConditions ( const Vector & initialVel,

const Vector & finalVel

)

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

Parameters:

initialVel An Vector containing the initial velocities

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)