gazebo-yarp-plugins
Gazebo Plugins exposing YARP interfaces.
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Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
TrajectoryGenerator Class Referenceabstract

#include <ControlBoardDriverTrajectory.h>

Inheritance diagram for TrajectoryGenerator:
[legend]

Public Member Functions

virtual ~TrajectoryGenerator ()
 
virtual bool initTrajectory (double current_pos, double final_pos, double speed, double acceleration)=0
 
virtual bool abortTrajectory (double limit)=0
 
virtual double computeTrajectory ()=0
 
virtual double computeTrajectoryStep ()=0
 
virtual yarp::dev::TrajectoryType getTrajectoryType ()=0
 
bool setLimits (double min, double max)
 
bool isMotionDone ()
 

Protected Member Functions

 TrajectoryGenerator (gazebo::physics::Model *model)
 

Protected Attributes

std::mutex m_mutex
 
gazebo::physics::Model * m_robot
 
bool m_trajectory_complete
 
double m_x0
 
double m_xf
 
double m_speed
 
double m_acceleration
 
double m_computed_reference
 
double m_controllerPeriod
 
double m_joint_min
 
double m_joint_max
 

Constructor & Destructor Documentation

◆ TrajectoryGenerator()

TrajectoryGenerator::TrajectoryGenerator ( gazebo::physics::Model * model)
protected

◆ ~TrajectoryGenerator()

TrajectoryGenerator::~TrajectoryGenerator ( )
virtual

Member Function Documentation

◆ initTrajectory()

virtual bool TrajectoryGenerator::initTrajectory ( double current_pos,
double final_pos,
double speed,
double acceleration )
pure virtual

Implemented in ConstSpeedTrajectoryGenerator, TrapezoidalSpeedTrajectoryGenerator, and MinJerkTrajectoryGenerator.

◆ abortTrajectory()

virtual bool TrajectoryGenerator::abortTrajectory ( double limit)
pure virtual

Implemented in ConstSpeedTrajectoryGenerator, TrapezoidalSpeedTrajectoryGenerator, and MinJerkTrajectoryGenerator.

◆ computeTrajectory()

virtual double TrajectoryGenerator::computeTrajectory ( )
pure virtual

Implemented in ConstSpeedTrajectoryGenerator, TrapezoidalSpeedTrajectoryGenerator, and MinJerkTrajectoryGenerator.

◆ computeTrajectoryStep()

virtual double TrajectoryGenerator::computeTrajectoryStep ( )
pure virtual

Implemented in ConstSpeedTrajectoryGenerator, TrapezoidalSpeedTrajectoryGenerator, and MinJerkTrajectoryGenerator.

◆ getTrajectoryType()

virtual yarp::dev::TrajectoryType TrajectoryGenerator::getTrajectoryType ( )
pure virtual

Implemented in ConstSpeedTrajectoryGenerator, TrapezoidalSpeedTrajectoryGenerator, and MinJerkTrajectoryGenerator.

◆ setLimits()

bool TrajectoryGenerator::setLimits ( double min,
double max )

◆ isMotionDone()

bool TrajectoryGenerator::isMotionDone ( )

Member Data Documentation

◆ m_mutex

std::mutex TrajectoryGenerator::m_mutex
protected

◆ m_robot

gazebo::physics::Model* TrajectoryGenerator::m_robot
protected

◆ m_trajectory_complete

bool TrajectoryGenerator::m_trajectory_complete
protected

◆ m_x0

double TrajectoryGenerator::m_x0
protected

◆ m_xf

double TrajectoryGenerator::m_xf
protected

◆ m_speed

double TrajectoryGenerator::m_speed
protected

◆ m_acceleration

double TrajectoryGenerator::m_acceleration
protected

◆ m_computed_reference

double TrajectoryGenerator::m_computed_reference
protected

◆ m_controllerPeriod

double TrajectoryGenerator::m_controllerPeriod
protected

◆ m_joint_min

double TrajectoryGenerator::m_joint_min
protected

◆ m_joint_max

double TrajectoryGenerator::m_joint_max
protected
The documentation for this class was generated from the following files: