#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

void	applyRamping (const std::vector< std::pair< std::size_t, float > > &fixedVelocities, float rampLength)
	Set the velocity at the given indices to their respective value and ramp down over the specified distance.

GlobalTrajectory	calcSubsampledTrajectory (int subsamplingFactor) const

std::vector< std::pair< std::size_t, float > >	calculateCorners (float cornerLimit) const
	Return a list of the indices of all corneres in the trajectory with their respective angle difference.

float	duration (core::VelocityInterpolation interpolation) const

std::optional< GlobalTrajectoryPoint >	getPointAtSpatialDistanceFrom (const Position &point, float distance) const

std::optional< GlobalTrajectoryPoint >	getPointAtTemporalDistanceFrom (const Position &point, float distance) const

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

float	getRemainingDistance (const Position &point) const
	Project point onto the trajectory and evaluate the remaining distance from there on.

float	getRemainingDuration (const Position &point, float linearVelocity=400, float angularVelocity=0.5) const
	Project point onto the trajectory and evaluate the remaining duration from there on.

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.

GlobalTrajectory	getSubTrajectory (std::size_t s, std::size_t t) const
	Return a new trajectory along the old one from the given start index (inclusive) to the given end index (exclusive).

	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!

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!

Detailed Description

Definition at line 74 of file Trajectory.h.

Member Typedef Documentation

◆ Indices

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

Definition at line 179 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 )

Definition at line 1226 of file Trajectory.cpp.

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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 1053 of file Trajectory.cpp.

◆ applyRamping()

void applyRamping	(	const std::vector< std::pair< std::size_t, float > > &	fixedVelocities,
		float	rampLength )

Set the velocity at the given indices to their respective value and ramp down over the specified distance.

Will only ever decrease the velocity at a given point.

Parameters

fixedVelocities	the list of indices and their velocity [mm/s] to adjust
rampLength	[mm] the distance over which to ramp the velocity

Definition at line 422 of file Trajectory.cpp.

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◆ calcSubsampledTrajectory()

GlobalTrajectory calcSubsampledTrajectory ( int subsamplingFactor ) const

Definition at line 549 of file Trajectory.cpp.

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◆ calculateCorners()

std::vector< std::pair< std::size_t, float > > calculateCorners ( float cornerLimit ) const

nodiscard

Return a list of the indices of all corneres in the trajectory with their respective angle difference.

Parameters

cornerLimit the angle above which two segments are considered a corner [deg]

Returns: std::vector<std::pair<std::size_t, float>> a list of the index and its angle difference for each corner in the trajectory

Definition at line 520 of file Trajectory.cpp.

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◆ duration()

float duration ( core::VelocityInterpolation interpolation ) const

Definition at line 1009 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 630 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 624 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 691 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 636 of file Trajectory.cpp.

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◆ getPointAtSpatialDistanceFrom()

std::optional< GlobalTrajectoryPoint > getPointAtSpatialDistanceFrom	(	const Position &	point,
		float	distance ) const

Definition at line 1232 of file Trajectory.cpp.

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◆ getPointAtTemporalDistanceFrom()

std::optional< GlobalTrajectoryPoint > getPointAtTemporalDistanceFrom	(	const Position &	point,
		float	distance ) const

Definition at line 1287 of file Trajectory.cpp.

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◆ getProjection()

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

Definition at line 256 of file Trajectory.cpp.

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◆ getRemainingDistance()

float getRemainingDistance ( const Position & point ) const

Project point onto the trajectory and evaluate the remaining distance from there on.

Parameters

point current location, from which on to measure

Returns: Remaining translation along the trajectory in mm (ignoring rotations!)

Definition at line 366 of file Trajectory.cpp.

◆ getRemainingDuration()

float getRemainingDuration	(	const Position &	point,
		float	linearVelocity = 400,
		float	angularVelocity = 0.5 ) const

Project point onto the trajectory and evaluate the remaining duration from there on.

Parameters

point	current location, from which on to measure
linearVelocity	velocity for translations in mm/s
angularVelocity	velocity for rotations in rad/s

Returns: Remaining translation along the trajectory in s

Definition at line 389 of file Trajectory.cpp.

◆ getSubTrajectory() [1/2]

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 304 of file Trajectory.cpp.

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◆ getSubTrajectory() [2/2]

GlobalTrajectory getSubTrajectory	(	std::size_t	s,
		std::size_t	t ) const

Return a new trajectory along the old one from the given start index (inclusive) to the given end index (exclusive).

Returns: A subtrajectory in the range [s,t)

Definition at line 348 of file Trajectory.cpp.

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◆ hasMaxDistanceBetweenWaypoints()

bool hasMaxDistanceBetweenWaypoints ( float maxDistance ) const

Definition at line 979 of file Trajectory.cpp.

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◆ isValid()

bool isValid ( ) const

noexcept

Definition at line 1044 of file Trajectory.cpp.

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◆ length()

float length ( ) const

Definition at line 947 of file Trajectory.cpp.

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◆ mutablePoints()

std::vector< GlobalTrajectoryPoint > & mutablePoints ( )

Definition at line 1003 of file Trajectory.cpp.

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◆ points()

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

Definition at line 997 of file Trajectory.cpp.

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◆ poses()

std::vector< Pose > poses ( ) const

nodiscardnoexcept

Definition at line 609 of file Trajectory.cpp.

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◆ positions()

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

nodiscardnoexcept

Definition at line 595 of file Trajectory.cpp.

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◆ resample()

GlobalTrajectory resample ( float eps ) const

Definition at line 846 of file Trajectory.cpp.

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◆ setMaxVelocity()

void setMaxVelocity ( float maxVelocity )

Definition at line 968 of file Trajectory.cpp.

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

armarx/navigation/core/Trajectory.h
armarx/navigation/core/Trajectory.cpp

Public Types

Public Member Functions

Static Public Member Functions

Detailed Description

Member Typedef Documentation

◆ Indices

Constructor & Destructor Documentation

◆ GlobalTrajectory() [1/2]

◆ GlobalTrajectory() [2/2]

Member Function Documentation

◆ allConnectedPointsInRange()

◆ applyRamping()

◆ calcSubsampledTrajectory()

◆ calculateCorners()

◆ duration()

◆ FromPath() [1/4]

◆ FromPath() [2/4]

◆ FromPath() [3/4]

◆ FromPath() [4/4]

◆ getPointAtSpatialDistanceFrom()

◆ getPointAtTemporalDistanceFrom()

◆ getProjection()

◆ getRemainingDistance()

◆ getRemainingDuration()

◆ getSubTrajectory() [1/2]

◆ getSubTrajectory() [2/2]

◆ hasMaxDistanceBetweenWaypoints()

◆ isValid()

◆ length()

◆ mutablePoints()

◆ points()

◆ poses()

◆ positions()

◆ resample()

◆ setMaxVelocity()