PlayPlatformTrajectory.cpp File Reference

#include "PlayPlatformTrajectory.h"
#include <ArmarXCore/core/time/CycleUtil.h>
#include <ArmarXCore/observers/variant/DatafieldRef.h>
#include <RobotAPI/libraries/core/PIDController.h>
#include <RobotSkillTemplates/statecharts/PlatformGroup/PlatformContext.h>

Macros
#define	FACTOR_BETWEEN_TRANS_AND_ROT   500.0
#define	MAX_ROTATION_ACCEL   0.75
#define	MAX_TRANSLATION_ACCEL   0.5
#define	STATE_POSITION   0
#define	STATE_VELOCITY   1

Functions
TrajectoryPtr	balanceTimestamps (TrajectoryPtr t)
TrajectoryPtr	normalizeTimestamps (TrajectoryPtr t, float maxTransVel, float maxRotVel)
TrajectoryPtr	scaleRotationLengths (TrajectoryPtr t, float factor)

Macro Definition Documentation

FACTOR_BETWEEN_TRANS_AND_ROT

#define FACTOR_BETWEEN_TRANS_AND_ROT   500.0

MAX_ROTATION_ACCEL

#define MAX_ROTATION_ACCEL   0.75

MAX_TRANSLATION_ACCEL

#define MAX_TRANSLATION_ACCEL   0.5

STATE_POSITION

#define STATE_POSITION   0

STATE_VELOCITY

#define STATE_VELOCITY   1

Function Documentation

balanceTimestamps()

TrajectoryPtr balanceTimestamps

(

TrajectoryPtr

t

)

normalizeTimestamps()

TrajectoryPtr normalizeTimestamps	(	TrajectoryPtr	t,
		float	maxTransVel,
		float	maxRotVel )

scaleRotationLengths()

TrajectoryPtr scaleRotationLengths	(	TrajectoryPtr	t,
		float	factor )