Transition Class Reference

#include <RobotComponents/gui-plugins/RobotTrajectoryDesignerGuiPlugin/Model/Transition.h>

Public Member Functions
UserWaypointPtr	getEnd ()
	Returns the end UserWaypoint of the transition.
InterpolationType	getInterpolationType () const
	Returns the interpolation type of the transition.
UserWaypointPtr	getStart ()
	Returns the start UserWaypoint of the transition.
double	getTimeOptimalDuration () const
	Returns the time optimal duration calculated by TrajectoryCalculation.
TrajectoryPtr	getTrajectory ()
	Returns the armarx::Trajectory of the transition.
double	getUserDuration () const
	Returns the user duration of the transition.
void	setEnd (const UserWaypointPtr &value)
	set the end userwaypoint of the transition
void	setInterpolationType (const InterpolationType &value)
	Set the intpolation type of the transition.
void	setStart (const UserWaypointPtr &value)
	set the start userwaypoint of the transition
void	setTimeOptimalDuration (double value)
	set the time optimal duration and set the userDuration if its less than time optimal duration
void	setTrajectory (const TrajectoryPtr &value)
	set the time optimal trajectory 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.
	Transition (const Transition &source, const UserWaypointPtr newStart, const UserWaypointPtr newEnd)
	Deep copy constructor of the class Transition.
	Transition (UserWaypointPtr &newStart, UserWaypointPtr &newEnd)
	Transition.

Constructor & Destructor Documentation

Transition() [1/2]

Transition	(	UserWaypointPtr &	newStart,
		UserWaypointPtr &	newEnd )

Transition.

Parameters

newStart
newEnd

Transition() [2/2]

Transition	(	const Transition &	source,
		const UserWaypointPtr	newStart,
		const UserWaypointPtr	newEnd )

Deep copy constructor of the class Transition.

Parameters

source

to copy

Member Function Documentation

getEnd()

UserWaypointPtr getEnd

(

)

Returns the end UserWaypoint of the transition.

Returns

end user waypoint

getInterpolationType()

InterpolationType getInterpolationType

(

)

const

Returns the interpolation type of the transition.

See also

InterpolationType

Returns

getStart()

UserWaypointPtr getStart

(

)

Returns the start UserWaypoint of the transition.

Returns

start user waypoint

getTimeOptimalDuration()

double getTimeOptimalDuration

(

)

const

Returns the time optimal duration calculated by TrajectoryCalculation.

Returns

time optimal duration

getTrajectory()

TrajectoryPtr getTrajectory

(

)

Returns the armarx::Trajectory of the transition.

Returns

trajectory

getUserDuration()

double getUserDuration

(

)

const

Returns the user duration of the transition.

Returns

user duration

setEnd()

void setEnd

(

const UserWaypointPtr &

value

)

set the end userwaypoint of the transition

Parameters

value

end

setInterpolationType()

void setInterpolationType

(

const InterpolationType &

value

)

Set the intpolation type of the transition.

Parameters

vlaue

interpolation type

setStart()

void setStart

(

const UserWaypointPtr &

value

)

set the start userwaypoint of the transition

Parameters

value

start

setTimeOptimalDuration()

void setTimeOptimalDuration

(

double

value

)

set the time optimal duration and set the userDuration if its less than time optimal duration

Parameters

value

time

setTrajectory()

void setTrajectory

(

const TrajectoryPtr &

value

)

set the time optimal trajectory of the transition

Parameters

value

trajectory

setUserDuration()

void setUserDuration

(

double

value

)

Set the user duration of the transition and tests if it is greater than the time optimal duration.

Updates the user timestamps of the start and end UserWaypoint.

Parameters

value

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

• RobotComponents/gui-plugins/RobotTrajectoryDesignerGuiPlugin/Model/Transition.h
• RobotComponents/gui-plugins/RobotTrajectoryDesignerGuiPlugin/Model/Transition.cpp