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GlobalTrajectory Class Reference

#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...
 

Detailed Description

Definition at line 68 of file Trajectory.h.

Member Typedef Documentation

◆ Indices

using Indices = std::vector<std::size_t>

Definition at line 126 of file Trajectory.h.

Constructor & Destructor Documentation

◆ GlobalTrajectory() [1/2]

GlobalTrajectory ( )
default
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◆ GlobalTrajectory() [2/2]

GlobalTrajectory ( const std::vector< GlobalTrajectoryPoint > &  points)
inline

Definition at line 73 of file Trajectory.h.

Member Function Documentation

◆ allConnectedPointsInRange()

GlobalTrajectory::Indices allConnectedPointsInRange ( std::size_t  idx,
float  radius 
) const

get all points within a certain radius that are directly connected to idx

Returns
the list without idx

Definition at line 788 of file Trajectory.cpp.

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◆ duration()

float duration ( core::VelocityInterpolation  interpolation) const

Definition at line 744 of file Trajectory.cpp.

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◆ FromPath() [1/4]

GlobalTrajectory FromPath ( const Path &  path,
const std::vector< float > &  velocity 
)
static

Definition at line 365 of file Trajectory.cpp.

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◆ FromPath() [2/4]

GlobalTrajectory FromPath ( const Path &  path,
float  velocity 
)
static

Note: the velocity will not be set!

Definition at line 359 of file Trajectory.cpp.

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◆ FromPath() [3/4]

GlobalTrajectory FromPath ( const Pose &  start,
const Positions &  waypoints,
const Pose &  goal,
const std::vector< float > &  velocity 
)
static

Definition at line 426 of file Trajectory.cpp.

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◆ FromPath() [4/4]

GlobalTrajectory FromPath ( const Pose &  start,
const Positions &  waypoints,
const Pose &  goal,
float  velocity 
)
static

Note: the velocity will not be set!

Definition at line 371 of file Trajectory.cpp.

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◆ getProjection()

Projection getProjection ( const Position &  point,
const VelocityInterpolation &  velocityInterpolation 
) const

Definition at line 243 of file Trajectory.cpp.

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◆ getSubTrajectory()

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.

Returns
The subtrajectory and whether the subtrajectory ends at the same point, as this trajectory

Definition at line 287 of file Trajectory.cpp.

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◆ hasMaxDistanceBetweenWaypoints()

bool hasMaxDistanceBetweenWaypoints ( float  maxDistance) const

Definition at line 714 of file Trajectory.cpp.

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◆ isValid()

bool isValid ( ) const
noexcept

Definition at line 779 of file Trajectory.cpp.

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◆ length()

float length ( ) const

Definition at line 682 of file Trajectory.cpp.

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◆ mutablePoints()

std::vector< GlobalTrajectoryPoint > & mutablePoints ( )

Definition at line 738 of file Trajectory.cpp.

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◆ points()

const std::vector< GlobalTrajectoryPoint > & points ( ) const

Definition at line 732 of file Trajectory.cpp.

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◆ poses()

std::vector< Pose > poses ( ) const
noexcept

Definition at line 344 of file Trajectory.cpp.

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◆ positions()

std::vector< Eigen::Vector3f > positions ( ) const
noexcept

Definition at line 330 of file Trajectory.cpp.

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◆ resample()

GlobalTrajectory resample ( float  eps) const

Definition at line 581 of file Trajectory.cpp.

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◆ setMaxVelocity()

void setMaxVelocity ( float  maxVelocity)

Definition at line 703 of file Trajectory.cpp.

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