The Trajectory class represents n-dimensional sampled trajectories. More...

#include <RobotAPI/libraries/core/Trajectory.h>

Inheritance diagram for Trajectory:

Classes
struct	TagOrdered

struct	TagTimestamp

struct	TrajData

Public Types
using	ordered_view = typename boost::multi_index::index< TrajDataContainer, TagOrdered >::type

using	timestamp_view = typename boost::multi_index::index< TrajDataContainer, TagTimestamp >::type

typedef boost::multi_index::multi_index_container< TrajData, boost::multi_index::indexed_by< boost::multi_index::hashed_unique< boost::multi_index::tag< TagTimestamp >, boost::multi_index::member< TrajData, double, &TrajData::timestamp > >, boost::multi_index::ordered_unique< boost::multi_index::tag< TagOrdered >, boost::multi_index::member< TrajData, double, &TrajData::timestamp > > > >	TrajDataContainer

using	TrajMap = std::map< double, std::vector< DoubleSeqPtr > >

Public Member Functions
void	addDerivationsToDimension (size_t dimension, const double t, const Ice::DoubleSeq &derivs)

size_t	addDimension (const Ice::DoubleSeq &values, const Ice::DoubleSeq &timestamps=Ice::DoubleSeq(), const std::string name="")

void	addPositionsToDimension (size_t dimension, const Ice::DoubleSeq &values, const Ice::DoubleSeq &timestamps)

ordered_view::const_iterator	begin () const
	Iterators that iterates in incremental order of the timestamps through the trajectory. More...

TrajectoryPtr	calculateTimeOptimalTrajectory (const Eigen::VectorXd &maxVelocities, const Eigen::VectorXd &maxAccelerations, double maxDeviation, IceUtil::Time const &timestep)

TrajectoryPtr	calculateTimeOptimalTrajectory (double maxVelocity, double maxAcceleration, double maxDeviation, IceUtil::Time const &timestep)

void	clear (bool keepMetaData=false)

VariantDataClassPtr	clone (const Ice::Current &c=Ice::emptyCurrent) const override

TrajectoryPtr	cloneMetaData () const

TrajDataContainer &	data ()

bool	dataExists (double t, size_t dimension=0, size_t derivation=0) const

void	deserialize (const ObjectSerializerBasePtr &, const Ice::Current &=Ice::emptyCurrent) override

void	differentiateDiscretly (size_t derivation)

void	differentiateDiscretlyForDim (size_t trajDimension, size_t derivation)

size_t	dim () const
	dim returns the trajectory dimension count for this trajectory (e.g. More...

ordered_view::const_iterator	end () const

void	gaussianFilter (double filterRadius)
	gaussianFilter smoothes the trajectory More...

std::vector< Ice::DoubleSeq >	getAllStates (double t, int maxDeriv=1)

double	getAmplitude (size_t dimension, size_t derivation, double startTime, double endTime) const

Ice::DoubleSeq	getDerivations (double t, size_t dimension, size_t derivations) const

Ice::DoubleSeq	getDimensionData (size_t dimension, size_t derivation=0) const
	getDimensionData gets all entries for one dimensions with order of increasing timestamps More...

Eigen::VectorXd	getDimensionDataAsEigen (size_t dimension, size_t derivation) const

Eigen::VectorXd	getDimensionDataAsEigen (size_t dimension, size_t derivation, double startTime, double endTime) const

std::string	getDimensionName (size_t dim) const

const Ice::StringSeq &	getDimensionNames () const

double	getDiscretDifferentiationForDimAtT (double t, size_t trajDimension, size_t derivation) const

Ice::DoubleSeq	getDiscreteDifferentiationForDim (size_t trajDimension, size_t derivation) const

double	getLength (size_t derivation, double startTime, double endTime) const

double	getLength (size_t derivation=0) const
	Returns the sum of a all subsequent distances of the entries in the trajectories over all dimensions. More...

double	getLength (size_t dimension, size_t derivation) const

double	getLength (size_t dimension, size_t derivation, double startTime, double endTime) const

LimitlessStateSeq	getLimitless () const

double	getMax (size_t dimension, size_t derivation, double startTime, double endTime) const

Ice::DoubleSeq	getMaxima (size_t dimension, size_t derivation, double startTime, double endTime) const

Ice::DoubleSeq	getMaximaTimestamps (size_t dimension, size_t derivation, double startTime, double endTime) const

double	getMin (size_t dimension, size_t derivation, double startTime, double endTime) const

Ice::DoubleSeq	getMinima (size_t dimension, size_t derivation, double startTime, double endTime) const
	Calculate all minima. More...

Ice::DoubleSeq	getMinimaTimestamps (size_t dimension, size_t derivation, double startTime, double endTime) const

TrajectoryPtr	getPart (double startTime, double endTime, size_t numberOfDerivations=0) const

double	getSquaredLength (size_t dimension, size_t derivation) const

double	getSquaredLength (size_t dimension, size_t derivation, double startTime, double endTime) const

double	getState (double t, size_t dim=0, size_t derivation=0)

double	getState (double t, size_t dim=0, size_t derivation=0) const

std::vector< DoubleSeqPtr > &	getStates (double t)

std::vector< DoubleSeqPtr >	getStates (double t) const

Ice::DoubleSeq	getStates (double t, size_t derivation) const

std::map< double, Ice::DoubleSeq >	getStatesAround (double t, size_t derivation, size_t extend) const

template<typename T >
std::map< std::string, T >	getStatesMap (double t, size_t derivation=0) const

double	getTimeLength () const
	Difference between biggest and smallest timestamp. More...

Ice::DoubleSeq	getTimestamps () const

Ice::FloatSeq	getTimestampsFloat () const

Ice::Int	getType (const Ice::Current &c=Ice::emptyCurrent) const override

double	getWithFunc (const double &(*foo)(const double &, const double &), double initValue, size_t dimension, size_t derivation, double startTime, double endTime) const

Ice::ObjectPtr	ice_clone () const override

void	ice_postUnmarshal () override

void	ice_preMarshal () override

void	negateDim (size_t trajDimension)
	negateDim changes the sign of all values of the given dimension. More...

TrajectoryPtr	normalize (const double startTime=0.0, const double endTime=1.0)

Trajectory &	operator+= (const Trajectory traj)

Trajectory &	operator= (const Trajectory &source)

std::vector< DoubleSeqPtr > &	operator[] (double timestamp)

std::string	output (const Ice::Current &c=Ice::emptyCurrent) const override

ordered_view::const_reverse_iterator	rbegin () const

void	reconstructFromDerivativeForDim (double valueAtFirstTimestamp, size_t trajDimension, size_t sourceDimOfSystemState, size_t targetDimOfSystemState)

void	removeDerivation (size_t derivation)

void	removeDerivation (size_t dimension, size_t derivation)

void	removeDimension (size_t dimension)

ordered_view::const_reverse_iterator	rend () const

void	scaleValue (const Ice::DoubleSeq &factor)

void	serialize (const ObjectSerializerBasePtr &obj, const Ice::Current &=Ice::emptyCurrent) const override

void	setDimensionNames (const Ice::StringSeq dimNames)

void	setEntries (const double t, const size_t dimIndex, const Ice::DoubleSeq &y)

void	setLimitless (const LimitlessStateSeq &limitlessStates)

void	setPositionEntry (const double t, const size_t dimIndex, const double &y)

void	shiftTime (double shift)

void	shiftValue (const Ice::DoubleSeq &shift)

size_t	size () const
	Returns number of data entries (i.e. More...

Eigen::MatrixXd	toEigen (size_t derivation, double startTime, double endTime) const

Eigen::MatrixXd	toEigen (size_t derivation=0) const

	Trajectory ()

	Trajectory (const std::map< double, Ice::DoubleSeq > &data)

template<typename T >
	Trajectory (const std::vector< std::vector< std::vector< T >>> &data, const Ice::DoubleSeq timestamps=Ice::DoubleSeq(), const Ice::StringSeq &dimensionNames={})

template<typename T >
	Trajectory (const std::vector< std::vector< T >> &data, const Ice::DoubleSeq timestamps=Ice::DoubleSeq(), const Ice::StringSeq &dimensionNames={})
	Constructor to add n-dimensions with m-values. More...

template<typename T >
	Trajectory (const std::vector< T > &data, const Ice::DoubleSeq timestamps=Ice::DoubleSeq(), const std::string &dimensionName="", typename std::enable_if_t< std::is_arithmetic_v< T >> *t=0)

	Trajectory (const Trajectory &source)

bool	validate (const Ice::Current &c=Ice::emptyCurrent) override

Static Public Member Functions
static void	CopyData (const Trajectory &source, Trajectory &destination)

static void	CopyMetaData (const Trajectory &source, Trajectory &destination)

static Ice::DoubleSeq	DifferentiateDiscretly (const Ice::DoubleSeq &timestamps, const Ice::DoubleSeq &values, int derivationCount=1)

template<typename T >
static Ice::DoubleSeq	GenerateTimestamps (const std::vector< T > &values)

static Ice::DoubleSeq	GenerateTimestamps (double startTime=0.0, double endTime=1.0, double stepSize=0.001)

static Ice::DoubleSeq	NormalizeTimestamps (const Ice::DoubleSeq &timestamps, const double startTime=0.0, const double endTime=1.0)

static Trajectory	NormalizeTimestamps (const Trajectory &traj, const double startTime=0.0, const double endTime=1.0)

Protected Member Functions
void	__addDimension ()

std::vector< DoubleSeqPtr >	__calcBaseDataAtTimestamp (const double &t) const

void	__fillAllEmptyFields ()

timestamp_view::iterator	__fillBaseDataAtTimestamp (const double &t)

double	__gaussianFilter (double filterRadius, typename ordered_view::iterator centerIt, size_t trajNum, size_t dim)

virtual double	__interpolate (double t, ordered_view::const_iterator itPrev, ordered_view::const_iterator itNext, size_t dimension, size_t derivation) const

double	__interpolate (double t, size_t dimension, size_t derivation) const

double	__interpolate (typename ordered_view::const_iterator itMap, size_t dimension, size_t derivation) const

	~Trajectory () override

Protected Attributes
TrajDataContainer	dataMap

Detailed Description

The Trajectory class represents n-dimensional sampled trajectories.

The class interpolates all missing values with linear interpolation and calculates derivations. This means trajectories with different timestamps can easily be used. Velocities or accelerations can easily be queried with the derivation parameters of many functions. Access complexity for a query with a timestamp is like from an unordered_map.

Internal structure of the Trajectory class

Basic usage:

    Ice::DoubleSeq joint1Values{0, 5, 1}; // fill with your values;
    Ice::DoubleSeq joint2Values{1, 3, 1}; // fill with your values;
    Ice::DoubleSeq joint3Values{0, 2, 5}; // fill with your values;
    Ice::DoubleSeq timestamps = Trajectory::GenerateTimestamps(
        0, 1, 1.0 / (joint1Values.size() - 1)); // if you dont have timestamps
    TrajectoryPtr trajectory(new Trajectory(
        DoubleSeqSeq{joint1Values, joint2Values}, timestamps, {"Shoulder 0 R", "Shoulder 1 R"}));
    trajectory->addDimension(joint3Values, timestamps, "Shoulder 2 R");
 
    double timestamp = 0.1;
    double dimension = 0;
    double derivation = 0;
    double j1posAtT = trajectory->getState(timestamp, dimension, derivation);
    // or
    Ice::DoubleSeq j1positions = trajectory->getDimensionData(dimension, derivation);

The trajectory offers normal iterator capabilities:

    Trajectory::ordered_view::iterator it; // or just auto it;
    it = trajectory->begin();
    for (; it != trajectory->end(); it++)
    {
        const Trajectory::TrajData& data = *it;
        ARMARX_INFO_S << "Position at " << data.getTimestamp() << " :" << data.getPosition(0);
    }
 
    // or with c++11 for loop:
    for (const Trajectory::TrajData& element : *trajectory)
    {
        ARMARX_INFO_S << "Position at " << element.getTimestamp() << " :" << element.getPosition(0);
    }

Note: Only const iterators are currently available.

With the iterators it can be used like a std container:

    FloatSeqSeq positions{{0, 0, 1}, {0, 1, 1}};
    TrajectoryPtr traj = new Trajectory(positions, {}, {"joint1", "joint2"});
    std::vector<Trajectory::TrajData> selection(traj->size());
    // select all elements with velocity > 0
    auto it = std::copy_if(traj->begin(),
                           traj->end(),
                           selection.begin(),
                           [](const Trajectory::TrajData& elem)
                           { return fabs(elem.getDeriv(0, 1)) > 0; });
    selection.resize(std::distance(selection.begin(), it));

Definition at line 76 of file Trajectory.h.

Member Typedef Documentation

◆ ordered_view

using ordered_view = typename boost::multi_index::index<TrajDataContainer, TagOrdered>::type

Definition at line 215 of file Trajectory.h.

◆ timestamp_view

using timestamp_view = typename boost::multi_index::index<TrajDataContainer, TagTimestamp>::type

Definition at line 213 of file Trajectory.h.

◆ TrajDataContainer

typedef boost::multi_index::multi_index_container< TrajData, boost::multi_index::indexed_by< boost::multi_index::hashed_unique< boost::multi_index::tag<TagTimestamp>, boost::multi_index::member<TrajData, double, &TrajData::timestamp> >, boost::multi_index::ordered_unique< boost::multi_index::tag<TagOrdered>, boost::multi_index::member< TrajData, double, &TrajData::timestamp> > > > TrajDataContainer

Definition at line 211 of file Trajectory.h.

◆ TrajMap

using TrajMap = std::map<double, std::vector<DoubleSeqPtr> >

Definition at line 82 of file Trajectory.h.

Constructor & Destructor Documentation

◆ ~Trajectory()

~Trajectory ( )

overrideprotecteddefault

◆ Trajectory() [1/6]

Trajectory ( )

inline

Definition at line 217 of file Trajectory.h.

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◆ Trajectory() [2/6]

Trajectory ( const Trajectory & source )

Definition at line 190 of file Trajectory.cpp.

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◆ Trajectory() [3/6]

Trajectory	(	const std::vector< T > &	data,
		const Ice::DoubleSeq	timestamps = `Ice::DoubleSeq()`,
		const std::string &	dimensionName = `""`,
		typename std::enable_if_t< std::is_arithmetic_v< T >> *	t = `0`
	)

inline

Definition at line 224 of file Trajectory.h.

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◆ Trajectory() [4/6]

Trajectory	(	const std::vector< std::vector< T >> &	data,
		const Ice::DoubleSeq	timestamps = `Ice::DoubleSeq()`,
		const Ice::StringSeq &	dimensionNames = `{}`
	)

inline

Constructor to add n-dimensions with m-values.

Parameters

data	data vector (size n) with positions (size m). Dimension 1 is the joint dimension and Dimension 2 is the position of that joint.
timestamps	timestamps of the trajectory. If not empty, need to be of same size as the inner values of data. If empty, timestamps from 0..1 are generated with a stepsize aligned with the size of the inner vector of data.

Definition at line 245 of file Trajectory.h.

◆ Trajectory() [5/6]

Trajectory	(	const std::vector< std::vector< std::vector< T >>> &	data,
		const Ice::DoubleSeq	timestamps = `Ice::DoubleSeq()`,
		const Ice::StringSeq &	dimensionNames = `{}`
	)

inline

Definition at line 265 of file Trajectory.h.

◆ Trajectory() [6/6]

Trajectory ( const std::map< double, Ice::DoubleSeq > & data )

Definition at line 199 of file Trajectory.cpp.

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Member Function Documentation

◆ __addDimension()

void __addDimension ( )

protected

Definition at line 1081 of file Trajectory.cpp.

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◆ __calcBaseDataAtTimestamp()

std::vector< DoubleSeqPtr > __calcBaseDataAtTimestamp ( const double & t ) const

protected

Definition at line 897 of file Trajectory.cpp.

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◆ __fillAllEmptyFields()

void __fillAllEmptyFields ( )

protected

Definition at line 1150 of file Trajectory.cpp.

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◆ __fillBaseDataAtTimestamp()

Trajectory::timestamp_view::iterator __fillBaseDataAtTimestamp ( const double & t )

protected

Definition at line 932 of file Trajectory.cpp.

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◆ __gaussianFilter()

double __gaussianFilter	(	double	filterRadius,
		typename ordered_view::iterator	centerIt,
		size_t	trajNum,
		size_t	dim
	)

protected

Definition at line 1666 of file Trajectory.cpp.

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◆ __interpolate() [1/3]

double __interpolate	(	double	t,
		ordered_view::const_iterator	itPrev,
		ordered_view::const_iterator	itNext,
		size_t	dimension,
		size_t	derivation
	)		const

protectedvirtual

Definition at line 1566 of file Trajectory.cpp.

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◆ __interpolate() [2/3]

double __interpolate	(	double	t,
		size_t	dimension,
		size_t	derivation
	)		const

protected

Definition at line 1528 of file Trajectory.cpp.

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◆ __interpolate() [3/3]

double __interpolate	(	typename ordered_view::const_iterator	itMap,
		size_t	dimension,
		size_t	derivation
	)		const

protected

Definition at line 1554 of file Trajectory.cpp.

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◆ addDerivationsToDimension()

void addDerivationsToDimension	(	size_t	dimension,
		const double	t,
		const Ice::DoubleSeq &	derivs
	)

Definition at line 2066 of file Trajectory.cpp.

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◆ addDimension()

size_t addDimension	(	const Ice::DoubleSeq &	values,
		const Ice::DoubleSeq &	timestamps = `Ice::DoubleSeq()`,
		const std::string	name = `""`
	)

Definition at line 1933 of file Trajectory.cpp.

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◆ addPositionsToDimension()

void addPositionsToDimension	(	size_t	dimension,
		const Ice::DoubleSeq &	values,
		const Ice::DoubleSeq &	timestamps
	)

Definition at line 2043 of file Trajectory.cpp.

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◆ begin()

Trajectory::ordered_view::const_iterator begin ( ) const

Iterators that iterates in incremental order of the timestamps through the trajectory.

Note: Only const versions are available currently.

See also: end(), rbegin(), rend()

Definition at line 2013 of file Trajectory.cpp.

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◆ calculateTimeOptimalTrajectory() [1/2]

TrajectoryPtr calculateTimeOptimalTrajectory	(	const Eigen::VectorXd &	maxVelocities,
		const Eigen::VectorXd &	maxAccelerations,
		double	maxDeviation,
		IceUtil::Time const &	timestep
	)

Definition at line 1850 of file Trajectory.cpp.

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◆ calculateTimeOptimalTrajectory() [2/2]

TrajectoryPtr calculateTimeOptimalTrajectory	(	double	maxVelocity,
		double	maxAcceleration,
		double	maxDeviation,
		IceUtil::Time const &	timestep
	)

Definition at line 1838 of file Trajectory.cpp.

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◆ clear()

void clear ( bool keepMetaData = false )

Definition at line 1743 of file Trajectory.cpp.

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◆ clone()

VariantDataClassPtr clone ( const Ice::Current & c = Ice::emptyCurrent ) const

override

Definition at line 138 of file Trajectory.cpp.

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◆ cloneMetaData()

TrajectoryPtr cloneMetaData ( ) const

Definition at line 144 of file Trajectory.cpp.

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◆ CopyData()

void CopyData	(	const Trajectory &	source,
		Trajectory &	destination
	)

static

Definition at line 1716 of file Trajectory.cpp.

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◆ CopyMetaData()

void CopyMetaData	(	const Trajectory &	source,
		Trajectory &	destination
	)

static

Definition at line 1735 of file Trajectory.cpp.

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◆ data()

Trajectory::TrajDataContainer & data ( )

Definition at line 384 of file Trajectory.cpp.

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◆ dataExists()

bool dataExists	(	double	t,
		size_t	dimension = `0`,
		size_t	derivation = `0`
	)		const

Definition at line 916 of file Trajectory.cpp.

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◆ deserialize()

void deserialize	(	const ObjectSerializerBasePtr &	serializer,
		const Ice::Current &	= `Ice::emptyCurrent`
	)

override

Definition at line 114 of file Trajectory.cpp.

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◆ DifferentiateDiscretly()

Ice::DoubleSeq DifferentiateDiscretly	(	const Ice::DoubleSeq &	timestamps,
		const Ice::DoubleSeq &	values,
		int	derivationCount = `1`
	)

static

Definition at line 1250 of file Trajectory.cpp.

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◆ differentiateDiscretly()

void differentiateDiscretly ( size_t derivation )

Definition at line 1449 of file Trajectory.cpp.

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◆ differentiateDiscretlyForDim()

void differentiateDiscretlyForDim	(	size_t	trajDimension,
		size_t	derivation
	)

Definition at line 1459 of file Trajectory.cpp.

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◆ dim()

size_t dim ( ) const

dim returns the trajectory dimension count for this trajectory (e.g.

taskspace w/o orientation would be 3)

Returns

Definition at line 522 of file Trajectory.cpp.

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◆ end()

Trajectory::ordered_view::const_iterator end ( ) const

Definition at line 2019 of file Trajectory.cpp.

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◆ gaussianFilter()

void gaussianFilter ( double filterRadius )

gaussianFilter smoothes the trajectory

Parameters

filterRadius,in easy words: time range to left and right from center that influences the resulting center value

Definition at line 1642 of file Trajectory.cpp.

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◆ GenerateTimestamps() [1/2]

static Ice::DoubleSeq GenerateTimestamps ( const std::vector< T > & values )

inlinestatic

Definition at line 465 of file Trajectory.h.

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◆ GenerateTimestamps() [2/2]

Ice::DoubleSeq GenerateTimestamps	(	double	startTime = `0.0`,
		double	endTime = `1.0`,
		double	stepSize = `0.001`
	)

static

Definition at line 1754 of file Trajectory.cpp.

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◆ getAllStates()

std::vector< Ice::DoubleSeq > getAllStates	(	double	t,
		int	maxDeriv = `1`
	)

Definition at line 333 of file Trajectory.cpp.

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◆ getAmplitude()

double getAmplitude	(	size_t	dimension,
		size_t	derivation,
		double	startTime,
		double	endTime
	)		const

Definition at line 736 of file Trajectory.cpp.

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◆ getDerivations()

Ice::DoubleSeq getDerivations	(	double	t,
		size_t	dimension,
		size_t	derivations
	)		const

Definition at line 353 of file Trajectory.cpp.

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◆ getDimensionData()

Ice::DoubleSeq getDimensionData	(	size_t	dimension,
		size_t	derivation = `0`
	)		const

getDimensionData gets all entries for one dimensions with order of increasing timestamps

Parameters

dimension
derivation

Returns

Definition at line 390 of file Trajectory.cpp.

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◆ getDimensionDataAsEigen() [1/2]

Eigen::VectorXd getDimensionDataAsEigen	(	size_t	dimension,
		size_t	derivation
	)		const

Definition at line 416 of file Trajectory.cpp.

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◆ getDimensionDataAsEigen() [2/2]

Eigen::VectorXd getDimensionDataAsEigen	(	size_t	dimension,
		size_t	derivation,
		double	startTime,
		double	endTime
	)		const

Definition at line 423 of file Trajectory.cpp.

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◆ getDimensionName()

std::string getDimensionName ( size_t dim ) const

Definition at line 372 of file Trajectory.cpp.

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◆ getDimensionNames()

const Ice::StringSeq & getDimensionNames ( ) const

Definition at line 378 of file Trajectory.cpp.

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◆ getDiscretDifferentiationForDimAtT()

double getDiscretDifferentiationForDimAtT	(	double	t,
		size_t	trajDimension,
		size_t	derivation
	)		const

Definition at line 1296 of file Trajectory.cpp.

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◆ getDiscreteDifferentiationForDim()

Ice::DoubleSeq getDiscreteDifferentiationForDim	(	size_t	trajDimension,
		size_t	derivation
	)		const

Definition at line 1201 of file Trajectory.cpp.

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◆ getLength() [1/4]

double getLength	(	size_t	derivation,
		double	startTime,
		double	endTime
	)		const

Definition at line 566 of file Trajectory.cpp.

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◆ getLength() [2/4]

double getLength ( size_t derivation = 0 ) const

Returns the sum of a all subsequent distances of the entries in the trajectories over all dimensions.

Parameters

derivation Derivation for which the length is calculated

Definition at line 556 of file Trajectory.cpp.

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◆ getLength() [3/4]

double getLength	(	size_t	dimension,
		size_t	derivation
	)		const

Definition at line 617 of file Trajectory.cpp.

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◆ getLength() [4/4]

double getLength	(	size_t	dimension,
		size_t	derivation,
		double	startTime,
		double	endTime
	)		const

Definition at line 627 of file Trajectory.cpp.

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◆ getLimitless()

LimitlessStateSeq getLimitless ( ) const

Definition at line 2214 of file Trajectory.cpp.

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◆ getMax()

double getMax	(	size_t	dimension,
		size_t	derivation,
		double	startTime,
		double	endTime
	)		const

Definition at line 689 of file Trajectory.cpp.

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◆ getMaxima()

Ice::DoubleSeq getMaxima	(	size_t	dimension,
		size_t	derivation,
		double	startTime,
		double	endTime
	)		const

Definition at line 822 of file Trajectory.cpp.

◆ getMaximaTimestamps()

Ice::DoubleSeq getMaximaTimestamps	(	size_t	dimension,
		size_t	derivation,
		double	startTime,
		double	endTime
	)		const

Definition at line 859 of file Trajectory.cpp.

◆ getMin()

double getMin	(	size_t	dimension,
		size_t	derivation,
		double	startTime,
		double	endTime
	)		const

Definition at line 700 of file Trajectory.cpp.

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◆ getMinima()

Ice::DoubleSeq getMinima	(	size_t	dimension,
		size_t	derivation,
		double	startTime,
		double	endTime
	)		const

Calculate all minima.

Parameters

dimension
derivation
startTime
endTime

Returns

Definition at line 746 of file Trajectory.cpp.

◆ getMinimaTimestamps()

Ice::DoubleSeq getMinimaTimestamps	(	size_t	dimension,
		size_t	derivation,
		double	startTime,
		double	endTime
	)		const

Definition at line 784 of file Trajectory.cpp.

◆ getPart()

TrajectoryPtr getPart	(	double	startTime,
		double	endTime,
		size_t	numberOfDerivations = `0`
	)		const

Definition at line 492 of file Trajectory.cpp.

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◆ getSquaredLength() [1/2]

double getSquaredLength	(	size_t	dimension,
		size_t	derivation
	)		const

Definition at line 656 of file Trajectory.cpp.

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◆ getSquaredLength() [2/2]

double getSquaredLength	(	size_t	dimension,
		size_t	derivation,
		double	startTime,
		double	endTime
	)		const

Definition at line 663 of file Trajectory.cpp.

◆ getState() [1/2]

double getState	(	double	t,
		size_t	dim = `0`,
		size_t	derivation = `0`
	)

Definition at line 237 of file Trajectory.cpp.

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◆ getState() [2/2]

double getState	(	double	t,
		size_t	dim = `0`,
		size_t	derivation = `0`
	)		const

Definition at line 299 of file Trajectory.cpp.

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◆ getStates() [1/3]

std::vector< DoubleSeqPtr > & getStates ( double t )

Definition at line 971 of file Trajectory.cpp.

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◆ getStates() [2/3]

std::vector< DoubleSeqPtr > getStates ( double t ) const

Definition at line 986 of file Trajectory.cpp.

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◆ getStates() [3/3]

Ice::DoubleSeq getStates	(	double	t,
		size_t	derivation
	)		const

Definition at line 1001 of file Trajectory.cpp.

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◆ getStatesAround()

std::map< double, Ice::DoubleSeq > getStatesAround	(	double	t,
		size_t	derivation,
		size_t	extend
	)		const

Definition at line 1015 of file Trajectory.cpp.

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◆ getStatesMap()

std::map<std::string, T> getStatesMap	(	double	t,
		size_t	derivation = `0`
	)		const

inline

Definition at line 316 of file Trajectory.h.

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◆ getTimeLength()

double getTimeLength ( ) const

Difference between biggest and smallest timestamp.

If size() <=1 -> return 0.

Definition at line 541 of file Trajectory.cpp.

◆ getTimestamps()

Ice::DoubleSeq getTimestamps ( ) const

Definition at line 1169 of file Trajectory.cpp.

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◆ getTimestampsFloat()

Ice::FloatSeq getTimestampsFloat ( ) const

Definition at line 1185 of file Trajectory.cpp.

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◆ getType()

Ice::Int getType ( const Ice::Current & c = Ice::emptyCurrent ) const

override

Definition at line 173 of file Trajectory.cpp.

◆ getWithFunc()

double getWithFunc	(	const double &(*)(const double &, const double &)	foo,
		double	initValue,
		size_t	dimension,
		size_t	derivation,
		double	startTime,
		double	endTime
	)		const

Definition at line 711 of file Trajectory.cpp.

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◆ ice_clone()

Ice::ObjectPtr ice_clone ( ) const

override

Definition at line 185 of file Trajectory.cpp.

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◆ ice_postUnmarshal()

void ice_postUnmarshal ( )

override

Definition at line 71 of file Trajectory.cpp.

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◆ ice_preMarshal()

void ice_preMarshal ( )

override

Definition at line 44 of file Trajectory.cpp.

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◆ negateDim()

void negateDim ( size_t trajDimension )

negateDim changes the sign of all values of the given dimension.

Definition at line 1509 of file Trajectory.cpp.

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◆ normalize()

TrajectoryPtr normalize	(	const double	startTime = `0.0`,
		const double	endTime = `1.0`
	)

Definition at line 1830 of file Trajectory.cpp.

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◆ NormalizeTimestamps() [1/2]

Ice::DoubleSeq NormalizeTimestamps	(	const Ice::DoubleSeq &	timestamps,
		const double	startTime = `0.0`,
		const double	endTime = `1.0`
	)

static

Definition at line 1781 of file Trajectory.cpp.

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◆ NormalizeTimestamps() [2/2]

Trajectory NormalizeTimestamps	(	const Trajectory &	traj,
		const double	startTime = `0.0`,
		const double	endTime = `1.0`
	)

static

Definition at line 1801 of file Trajectory.cpp.

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◆ operator+=()

Trajectory & operator+= ( const Trajectory traj )

Definition at line 1067 of file Trajectory.cpp.

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◆ operator=()

Trajectory & operator= ( const Trajectory & source )

Definition at line 230 of file Trajectory.cpp.

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◆ operator[]()

std::vector< DoubleSeqPtr > & operator[] ( double timestamp )

Definition at line 2037 of file Trajectory.cpp.

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◆ output()

std::string output ( const Ice::Current & c = Ice::emptyCurrent ) const

override

Definition at line 152 of file Trajectory.cpp.

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◆ rbegin()

Trajectory::ordered_view::const_reverse_iterator rbegin ( ) const

Definition at line 2025 of file Trajectory.cpp.

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◆ reconstructFromDerivativeForDim()

void reconstructFromDerivativeForDim	(	double	valueAtFirstTimestamp,
		size_t	trajDimension,
		size_t	sourceDimOfSystemState,
		size_t	targetDimOfSystemState
	)

Definition at line 1471 of file Trajectory.cpp.

◆ removeDerivation() [1/2]

void removeDerivation ( size_t derivation )

Definition at line 1978 of file Trajectory.cpp.

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◆ removeDerivation() [2/2]

void removeDerivation	(	size_t	dimension,
		size_t	derivation
	)

Definition at line 1997 of file Trajectory.cpp.

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◆ removeDimension()

void removeDimension ( size_t dimension )

Definition at line 1958 of file Trajectory.cpp.

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◆ rend()

Trajectory::ordered_view::const_reverse_iterator rend ( ) const

Definition at line 2031 of file Trajectory.cpp.

◆ scaleValue()

void scaleValue ( const Ice::DoubleSeq & factor )

Definition at line 2186 of file Trajectory.cpp.

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◆ serialize()

void serialize	(	const ObjectSerializerBasePtr &	obj,
		const Ice::Current &	= `Ice::emptyCurrent`
	)		const

override

Definition at line 90 of file Trajectory.cpp.

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◆ setDimensionNames()

void setDimensionNames ( const Ice::StringSeq dimNames )

inline

Definition at line 508 of file Trajectory.h.

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◆ setEntries()

void setEntries	(	const double	t,
		const size_t	dimIndex,
		const Ice::DoubleSeq &	y
	)

Definition at line 1094 of file Trajectory.cpp.

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◆ setLimitless()

void setLimitless ( const LimitlessStateSeq & limitlessStates )

Definition at line 2208 of file Trajectory.cpp.

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◆ setPositionEntry()

void setPositionEntry	(	const double	t,
		const size_t	dimIndex,
		const double &	y
	)

Definition at line 1123 of file Trajectory.cpp.

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◆ shiftTime()

void shiftTime ( double shift )

Definition at line 2145 of file Trajectory.cpp.

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◆ shiftValue()

void shiftValue ( const Ice::DoubleSeq & shift )

Definition at line 2164 of file Trajectory.cpp.

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◆ size()

size_t size ( ) const

Returns number of data entries (i.e.

positions) in the trajectory.

Definition at line 535 of file Trajectory.cpp.

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◆ toEigen() [1/2]

Eigen::MatrixXd toEigen	(	size_t	derivation,
		double	startTime,
		double	endTime
	)		const

Definition at line 459 of file Trajectory.cpp.

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◆ toEigen() [2/2]

Eigen::MatrixXd toEigen ( size_t derivation = 0 ) const

Definition at line 482 of file Trajectory.cpp.

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◆ validate()

bool validate ( const Ice::Current & c = Ice::emptyCurrent )

override

Definition at line 179 of file Trajectory.cpp.

Member Data Documentation

◆ dataMap

TrajDataContainer dataMap

protected

Definition at line 530 of file Trajectory.h.

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

RobotAPI/libraries/core/Trajectory.h
RobotAPI/libraries/core/Trajectory.cpp

Classes

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ordered_view

◆ timestamp_view

◆ TrajDataContainer

◆ TrajMap

Constructor & Destructor Documentation

◆ ~Trajectory()

◆ Trajectory() [1/6]

◆ Trajectory() [2/6]

◆ Trajectory() [3/6]

◆ Trajectory() [4/6]

◆ Trajectory() [5/6]

◆ Trajectory() [6/6]

Member Function Documentation

◆ __addDimension()

◆ __calcBaseDataAtTimestamp()

◆ __fillAllEmptyFields()

◆ __fillBaseDataAtTimestamp()

◆ __gaussianFilter()

◆ __interpolate() [1/3]

◆ __interpolate() [2/3]

◆ __interpolate() [3/3]

◆ addDerivationsToDimension()

◆ addDimension()

◆ addPositionsToDimension()

◆ begin()

◆ calculateTimeOptimalTrajectory() [1/2]

◆ calculateTimeOptimalTrajectory() [2/2]

◆ clear()

◆ clone()

◆ cloneMetaData()

◆ CopyData()

◆ CopyMetaData()

◆ data()

◆ dataExists()

◆ deserialize()

◆ DifferentiateDiscretly()

◆ differentiateDiscretly()

◆ differentiateDiscretlyForDim()

◆ dim()

◆ end()

◆ gaussianFilter()

◆ GenerateTimestamps() [1/2]

◆ GenerateTimestamps() [2/2]

◆ getAllStates()

◆ getAmplitude()

◆ getDerivations()

◆ getDimensionData()

◆ getDimensionDataAsEigen() [1/2]

◆ getDimensionDataAsEigen() [2/2]

◆ getDimensionName()

◆ getDimensionNames()

◆ getDiscretDifferentiationForDimAtT()

◆ getDiscreteDifferentiationForDim()

◆ getLength() [1/4]

◆ getLength() [2/4]

◆ getLength() [3/4]

◆ getLength() [4/4]

◆ getLimitless()

◆ getMax()

◆ getMaxima()

◆ getMaximaTimestamps()

◆ getMin()

◆ getMinima()

◆ getMinimaTimestamps()

◆ getPart()

◆ getSquaredLength() [1/2]

◆ getSquaredLength() [2/2]

◆ getState() [1/2]

◆ getState() [2/2]

◆ getStates() [1/3]

◆ getStates() [2/3]

◆ getStates() [3/3]