
#include <armarx/navigation/core/Trajectory.h>
Public Types  
using  Indices = std::vector< std::size_t > 
Public Member Functions  
Indices  allConnectedPointsInRange (std::size_t idx, float radius) const 
get all points within a certain radius that are directly connected to idx More...  
float  duration (core::VelocityInterpolation interpolation) const 
Projection  getProjection (const Position &point, const VelocityInterpolation &velocityInterpolation) const 
std::pair< GlobalTrajectory, bool >  getSubTrajectory (const Position &point, const float distance) const 
Project point onto the trajectory and return a new trajectory along the old one from that point for the specified distance. More...  
GlobalTrajectory ()=default  
GlobalTrajectory (const std::vector< GlobalTrajectoryPoint > &points)  
bool  hasMaxDistanceBetweenWaypoints (float maxDistance) const 
bool  isValid () const noexcept 
float  length () const 
std::vector< GlobalTrajectoryPoint > &  mutablePoints () 
const std::vector< GlobalTrajectoryPoint > &  points () const 
std::vector< Pose >  poses () const noexcept 
std::vector< Position >  positions () const noexcept 
GlobalTrajectory  resample (float eps) const 
void  setMaxVelocity (float maxVelocity) 
Static Public Member Functions  
static GlobalTrajectory  FromPath (const Path &path, const std::vector< float > &velocity) 
static GlobalTrajectory  FromPath (const Path &path, float velocity) 
Note: the velocity will not be set! More...  
static GlobalTrajectory  FromPath (const Pose &start, const Positions &waypoints, const Pose &goal, const std::vector< float > &velocity) 
static GlobalTrajectory  FromPath (const Pose &start, const Positions &waypoints, const Pose &goal, float velocity) 
Note: the velocity will not be set! More...  
Definition at line 68 of file Trajectory.h.
using Indices = std::vector<std::size_t> 
Definition at line 126 of file Trajectory.h.

default 

inline 
Definition at line 73 of file Trajectory.h.
GlobalTrajectory::Indices allConnectedPointsInRange  (  std::size_t  idx, 
float  radius  
)  const 
get all points within a certain radius that are directly connected to idx
Definition at line 788 of file Trajectory.cpp.
float duration  (  core::VelocityInterpolation  interpolation  )  const 

static 

static 
Note: the velocity will not be set!
Definition at line 359 of file Trajectory.cpp.

static 

static 
Note: the velocity will not be set!
Definition at line 371 of file Trajectory.cpp.
Projection getProjection  (  const Position &  point, 
const VelocityInterpolation &  velocityInterpolation  
)  const 
std::pair< GlobalTrajectory, bool > getSubTrajectory  (  const Position &  point, 
const float  distance  
)  const 
Project point onto the trajectory and return a new trajectory along the old one from that point for the specified distance.
Definition at line 287 of file Trajectory.cpp.
bool hasMaxDistanceBetweenWaypoints  (  float  maxDistance  )  const 

noexcept 
float length  (  )  const 
Definition at line 682 of file Trajectory.cpp.
std::vector< GlobalTrajectoryPoint > & mutablePoints  (  ) 
const std::vector< GlobalTrajectoryPoint > & points  (  )  const 

noexcept 
Definition at line 344 of file Trajectory.cpp.

noexcept 
Definition at line 330 of file Trajectory.cpp.
GlobalTrajectory resample  (  float  eps  )  const 
void setMaxVelocity  (  float  maxVelocity  ) 
Definition at line 703 of file Trajectory.cpp.