armarx::navigation::traj_ctrl::global Namespace Reference

This file is part of ArmarX. More...

Namespaces
namespace	arondto

Classes
class	TrajectoryController
struct	TrajectoryControllerParams
struct	TrajectoryControllerResult
class	TrajectoryFollowingController
struct	TrajectoryFollowingControllerParams
class	WaypointController
struct	WaypointControllerParams

Typedefs
using	TrajectoryControllerPtr = std::shared_ptr<TrajectoryController>
using	TrajectoryFollowingControllerPtr = std::shared_ptr<TrajectoryFollowingController>
using	WaypointControllerPtr = std::shared_ptr<WaypointController>

Enumerations
enum class	Algorithms { WaypointController , TrajectoryFollowingController }
enum class	GuardVerdict { None , ZeroLengthSegment , NonFiniteTwist , NoUsableProjection }
	Which guard, if any, altered this cycle's output. More...

Functions
void	fromAron (const arondto::TrajectoryControllerParams &dto, TrajectoryControllerParams &bo)
void	fromAron (const arondto::TrajectoryFollowingControllerParams &dto, TrajectoryFollowingControllerParams &bo)
void	fromAron (const arondto::WaypointControllerParams &dto, WaypointControllerParams &bo)
void	toAron (arondto::TrajectoryControllerParams &dto, const TrajectoryControllerParams &bo)
void	toAron (arondto::TrajectoryFollowingControllerParams &dto, const TrajectoryFollowingControllerParams &bo)
void	toAron (arondto::WaypointControllerParams &dto, const WaypointControllerParams &bo)

Variables
const simox::meta::EnumNames< Algorithms >	AlgorithmNames

Detailed Description

This file is part of ArmarX.

ArmarX is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License version 2 as published by the Free Software Foundation.

ArmarX is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see http://www.gnu.org/licenses/.

Author

Fabian Reister ( fabian dot reister at kit dot edu )

Christian R. G. Dreher ( c dot dreher at kit dot edu )

Date

2021

Copyright

http://www.gnu.org/licenses/gpl-2.0.txt GNU General Public License

Typedef Documentation

TrajectoryControllerPtr

using TrajectoryControllerPtr = std::shared_ptr<TrajectoryController>

TrajectoryFollowingControllerPtr

using TrajectoryFollowingControllerPtr = std::shared_ptr<TrajectoryFollowingController>

WaypointControllerPtr

using WaypointControllerPtr = std::shared_ptr<WaypointController>

Enumeration Type Documentation

Algorithms

enum class Algorithms

strong

Enumerator
WaypointController
TrajectoryFollowingController

GuardVerdict

enum class GuardVerdict

strong

Which guard, if any, altered this cycle's output.

Reported as a value and not only as a log line, so tests can assert on it without depending on logging.

Enumerator
None
ZeroLengthSegment	The projected segment had zero length, so the feed-forward direction was undefined.
NonFiniteTwist	The twist came out non-finite and was replaced by zero.
NoUsableProjection	No projection candidate was usable, so the trajectory could not be followed.

Function Documentation

fromAron() [1/3]

void fromAron	(	const arondto::TrajectoryControllerParams &	dto,
		TrajectoryControllerParams &	bo )

fromAron() [2/3]

void fromAron	(	const arondto::TrajectoryFollowingControllerParams &	dto,
		TrajectoryFollowingControllerParams &	bo )

fromAron() [3/3]

void fromAron	(	const arondto::WaypointControllerParams &	dto,
		WaypointControllerParams &	bo )

toAron() [1/3]

void toAron	(	arondto::TrajectoryControllerParams &	dto,
		const TrajectoryControllerParams &	bo )

toAron() [2/3]

void toAron	(	arondto::TrajectoryFollowingControllerParams &	dto,
		const TrajectoryFollowingControllerParams &	bo )

toAron() [3/3]

void toAron	(	arondto::WaypointControllerParams &	dto,
		const WaypointControllerParams &	bo )

Variable Documentation

AlgorithmNames

const simox::meta::EnumNames<Algorithms> AlgorithmNames

inline

Initial value:

{
        {Algorithms::WaypointController, "WaypointController"},
        {Algorithms::TrajectoryFollowingController, "TrajectoryFollowingController"}}