DesignerTrajectory Class Reference

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

Public Member Functions
void	addFirstUserWaypoint (UserWaypointPtr &point)
	add a new first userWaypoint
void	addLastUserWaypoint (UserWaypointPtr &point)
	add new last userWaypoint
void	deleteUserWaypoint (unsigned int index)
	delete the userwaypoint and remove all transitions including the userwaypoint.
	DesignerTrajectory (const DesignerTrajectory &source)
	Deep copy constructor of designerTrajectory.
	DesignerTrajectory (UserWaypointPtr &firstPoint, VirtualRobot::RobotNodeSetPtr newRns)
std::vector< UserWaypointPtr >	getAllUserWaypoints ()
	get all userwaypoints
std::vector< UserWaypointPtr >	getAllUserWaypoints () const
	get a copy of all userwaypoints
TrajectoryPtr	getFinalTrajectory ()
	get the final trajectory with the right durations
std::vector< TrajectoryPtr >	getInterBreakpointTrajectories ()
	Returns the interBreakpointTrajectories.
unsigned int	getNrOfUserWaypoints () const
	get the number of the userwaypoints
VirtualRobot::RobotNodeSetPtr	getRns ()
	get the robot node set of the designertrajectory
TrajectoryPtr	getTimeOptimalTrajectory ()
	get the time optimal trajectory.
TrajectoryPtr	getTrajectorySegment (unsigned int index)
	get one interBreakPoint trajectory
TransitionPtr	getTransition (unsigned int index)
	get the transition
UserWaypointPtr	getUserWaypoint (unsigned int index)
	get the userWaypoint
void	insertUserWaypoint (UserWaypointPtr &point, unsigned int index)
	insert userwaypoint before index
void	setInterBreakpointTrajectories (const std::vector< TrajectoryPtr > &value)
	set the interBreakpointTrajectories
void	setRns (const VirtualRobot::RobotNodeSetPtr &value)
	set the robotnodeset

Constructor & Destructor Documentation

DesignerTrajectory() [1/2]

DesignerTrajectory	(	UserWaypointPtr &	firstPoint,
		VirtualRobot::RobotNodeSetPtr	newRns )

DesignerTrajectory() [2/2]

DesignerTrajectory

(

const DesignerTrajectory &

source

)

Deep copy constructor of designerTrajectory.

Parameters

source

designertrajectory to copy

Member Function Documentation

addFirstUserWaypoint()

void addFirstUserWaypoint

(

UserWaypointPtr &

point

)

add a new first userWaypoint

Parameters

point

userwaypoint

addLastUserWaypoint()

void addLastUserWaypoint

(

UserWaypointPtr &

point

)

add new last userWaypoint

Parameters

point

userwaypoint

deleteUserWaypoint()

void deleteUserWaypoint

(

unsigned int

index

)

delete the userwaypoint and remove all transitions including the userwaypoint.

Creates new transition if necessary

Parameters

index

index of userwaypoint

getAllUserWaypoints() [1/2]

std::vector< UserWaypointPtr > getAllUserWaypoints

(

)

get all userwaypoints

Returns

all userwaypoints

getAllUserWaypoints() [2/2]

std::vector< UserWaypointPtr > getAllUserWaypoints

(

)

const

get a copy of all userwaypoints

Returns

all userwaypoints

getFinalTrajectory()

TrajectoryPtr getFinalTrajectory

(

)

get the final trajectory with the right durations

Returns

trajectory

getInterBreakpointTrajectories()

std::vector< TrajectoryPtr > getInterBreakpointTrajectories

(

)

Returns the interBreakpointTrajectories.

Returns

interBreakpointTrajectories

getNrOfUserWaypoints()

unsigned int getNrOfUserWaypoints

(

)

const

get the number of the userwaypoints

Returns

number

getRns()

VirtualRobot::RobotNodeSetPtr getRns

(

)

get the robot node set of the designertrajectory

Returns

robotnodeset

getTimeOptimalTrajectory()

TrajectoryPtr getTimeOptimalTrajectory

(

)

get the time optimal trajectory.

Calculated out of all breakpoint trajectories.

Returns

time optimal Trajectory

getTrajectorySegment()

TrajectoryPtr getTrajectorySegment

(

unsigned int

index

)

get one interBreakPoint trajectory

Parameters

index

the index

Returns

interBreakpointTrajectorie

getTransition()

TransitionPtr getTransition

(

unsigned int

index

)

get the transition

Parameters

index

index of transition

Returns

the transition

getUserWaypoint()

UserWaypointPtr getUserWaypoint

(

unsigned int

index

)

get the userWaypoint

Parameters

index

index of userwaypoint

Returns

the userwaypoint

insertUserWaypoint()

void insertUserWaypoint	(	UserWaypointPtr &	point,
		unsigned int	index )

insert userwaypoint before index

Parameters

point	userwaypoint
index	index

setInterBreakpointTrajectories()

void setInterBreakpointTrajectories

(

const std::vector< TrajectoryPtr > &

value

)

set the interBreakpointTrajectories

Parameters

value

interBreakpointTrajectories

setRns()

void setRns

(

const VirtualRobot::RobotNodeSetPtr &

value

)

set the robotnodeset

Parameters

value

robotnodeset

---

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

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