GraspTrajectoryKeypoint Class Reference

#include <RobotAPI/libraries/GraspingUtility/GraspTrajectory.h>

Public Types

using GraspTrajectoryKeypointPtr = std::shared_ptr< GraspTrajectoryKeypoint >
 

Public Member Functions

Eigen::Matrix3f getTargetOrientation () const
 
Eigen::Matrix4f getTargetPose () const
 
Eigen::Vector3f getTargetPosition () const
 
 GraspTrajectoryKeypoint ()=default
 
 GraspTrajectoryKeypoint (const Eigen::Matrix4f &tcpTarget, const armarx::NameValueMap &handJointsTarget, const std::optional< std::string > &shape=std::nullopt)
 
 GraspTrajectoryKeypoint (const Eigen::Matrix4f &tcpTarget, const armarx::NameValueMap &handJointsTarget, float dt, const Eigen::Vector3f &feedForwardPosVelocity, const Eigen::Vector3f &feedForwardOriVelocity, const Eigen::VectorXf &feedForwardHandJointsVelocity, const std::optional< std::string > &shape=std::nullopt)
 
void updateVelocities (const GraspTrajectoryKeypointPtr &prev, float deltat)
 

Public Attributes

float dt
 
Eigen::VectorXf feedForwardHandJointsVelocity
 
Eigen::Vector3f feedForwardOriVelocity
 
Eigen::Vector3f feedForwardPosVelocity
 
armarx::NameValueMap handJointsTarget
 
std::optional< std::string > shape
 
Eigen::Matrix4f tcpTarget
 

Detailed Description

Definition at line 44 of file GraspTrajectory.h.

Member Typedef Documentation

◆ GraspTrajectoryKeypointPtr

Definition at line 47 of file GraspTrajectory.h.

Constructor & Destructor Documentation

◆ GraspTrajectoryKeypoint() [1/3]

◆ GraspTrajectoryKeypoint() [2/3]

GraspTrajectoryKeypoint ( const Eigen::Matrix4f &  tcpTarget,
const armarx::NameValueMap &  handJointsTarget,
const std::optional< std::string > &  shape = std::nullopt 
)

Definition at line 758 of file GraspTrajectory.cpp.

◆ GraspTrajectoryKeypoint() [3/3]

GraspTrajectoryKeypoint ( const Eigen::Matrix4f &  tcpTarget,
const armarx::NameValueMap &  handJointsTarget,
float  dt,
const Eigen::Vector3f &  feedForwardPosVelocity,
const Eigen::Vector3f &  feedForwardOriVelocity,
const Eigen::VectorXf &  feedForwardHandJointsVelocity,
const std::optional< std::string > &  shape = std::nullopt 
)

Definition at line 740 of file GraspTrajectory.cpp.

Member Function Documentation

◆ getTargetOrientation()

Eigen::Matrix3f getTargetOrientation ( ) const

◆ getTargetPose()

Eigen::Matrix4f getTargetPose ( ) const

◆ getTargetPosition()

Eigen::Vector3f getTargetPosition ( ) const

◆ updateVelocities()

void updateVelocities ( const GraspTrajectoryKeypointPtr prev,
float  deltat 
)

Member Data Documentation

◆ dt

float dt

Definition at line 52 of file GraspTrajectory.h.

◆ feedForwardHandJointsVelocity

Eigen::VectorXf feedForwardHandJointsVelocity

Definition at line 55 of file GraspTrajectory.h.

◆ feedForwardOriVelocity

Eigen::Vector3f feedForwardOriVelocity

Definition at line 54 of file GraspTrajectory.h.

◆ feedForwardPosVelocity

Eigen::Vector3f feedForwardPosVelocity

Definition at line 53 of file GraspTrajectory.h.

◆ handJointsTarget

armarx::NameValueMap handJointsTarget

Definition at line 50 of file GraspTrajectory.h.

◆ shape

std::optional<std::string> shape

Definition at line 51 of file GraspTrajectory.h.

◆ tcpTarget

Eigen::Matrix4f tcpTarget

Definition at line 49 of file GraspTrajectory.h.


The documentation for this class was generated from the following files: