Go to the documentation of this file.
14 if (
value < timeOptimalDuration)
16 throw InvalidArgumentException(
"User duration must be greater than or equal timeOptimalDuration");
21 getEnd()->setUserTimestamp(
getStart()->getUserTimestamp() + userDuration);
26 throw InvalidArgumentException(
"User duration must be greater than or equal 0");
32 return timeOptimalDuration;
39 timeOptimalDuration =
value;
40 getEnd()->setTimeOptimalTimestamp(
getStart()->getTimeOptimalTimestamp()
41 + timeOptimalDuration);
42 if (userDuration == 0 || userDuration < timeOptimalDuration)
49 throw InvalidArgumentException(
"TimeOptimal duration must be greater than or equal 0");
55 return interpolationType;
60 interpolationType =
value;
86 throw InvalidArgumentException(
"Can not setStart with nullptr");
103 throw InvalidArgumentException(
"Can not setEnd with nullptr");
110 if (newStart !=
nullptr)
116 throw InvalidArgumentException(
"Can not construct Transition with newStart = nullptr");
118 if (newEnd !=
nullptr)
124 throw InvalidArgumentException(
"Can not construct Transition with newEnd = nullptr");
126 timeOptimalDuration = 0;
133 timeOptimalDuration(
source.timeOptimalDuration), userDuration(
source.userDuration),
134 interpolationType(
source.interpolationType),
TrajectoryPtr getTrajectory()
Returns the armarx::Trajectory of the transition.
std::shared_ptr< UserWaypoint > UserWaypointPtr
void setTimeOptimalDuration(double value)
set the time optimal duration and set the userDuration if its less than time optimal duration
void setStart(const UserWaypointPtr &value)
set the start userwaypoint of the transition
void setInterpolationType(const InterpolationType &value)
Set the intpolation type of the transition.
void setEnd(const UserWaypointPtr &value)
set the end userwaypoint of the transition
void setTrajectory(const TrajectoryPtr &value)
set the time optimal trajectory of the transition
UserWaypointPtr getEnd()
Returns the end UserWaypoint of the transition.
double getTimeOptimalDuration() const
Returns the time optimal duration calculated by TrajectoryCalculation.
std::shared_ptr< Value > value()
InterpolationType
The InterpolationType enum lists all available interpolation types eLinearInterpolation: represents l...
Vertex source(const detail::edge_base< Directed, Vertex > &e, const PCG &)
Transition(UserWaypointPtr &newStart, UserWaypointPtr &newEnd)
Transition.
The Trajectory class represents n-dimensional sampled trajectories.
This file offers overloads of toIce() and fromIce() functions for STL container types.
InterpolationType getInterpolationType() const
Returns the interpolation type of the transition.
double getUserDuration() const
Returns the user duration of the transition.
void setUserDuration(double value)
Set the user duration of the transition and tests if it is greater than the time optimal duration.
UserWaypointPtr getStart()
Returns the start UserWaypoint of the transition.