#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 45 of file GraspTrajectory.h.

Member Typedef Documentation

◆ GraspTrajectoryKeypointPtr

using GraspTrajectoryKeypointPtr = std::shared_ptr<GraspTrajectoryKeypoint>

Definition at line 48 of file GraspTrajectory.h.

Constructor & Destructor Documentation

◆ GraspTrajectoryKeypoint() [1/3]

GraspTrajectoryKeypoint ( )

default

◆ GraspTrajectoryKeypoint() [2/3]

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

Definition at line 761 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 743 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 53 of file GraspTrajectory.h.

◆ feedForwardHandJointsVelocity

Eigen::VectorXf feedForwardHandJointsVelocity

Definition at line 56 of file GraspTrajectory.h.

◆ feedForwardOriVelocity

Eigen::Vector3f feedForwardOriVelocity

Definition at line 55 of file GraspTrajectory.h.

◆ feedForwardPosVelocity

Eigen::Vector3f feedForwardPosVelocity

Definition at line 54 of file GraspTrajectory.h.

◆ handJointsTarget

armarx::NameValueMap handJointsTarget

Definition at line 51 of file GraspTrajectory.h.

◆ shape

std::optional<std::string> shape

Definition at line 52 of file GraspTrajectory.h.

◆ tcpTarget

Eigen::Matrix4f tcpTarget

Definition at line 50 of file GraspTrajectory.h.

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

RobotAPI/libraries/GraspingUtility/GraspTrajectory.h
RobotAPI/libraries/GraspingUtility/GraspTrajectory.cpp

Public Types

Public Member Functions

Public Attributes