Subcontroller which handles all program interaction with the modle, communicates with other controllers via signals and slots. More...

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

Public Slots
void	addWaypoint (int waypoint, bool insertAfter)
	Adds a new waypoint relative to the given waypoint. More...

void	deleteWaypoint (int waypoint)
	Deletes the given waypoint. More...

void	environmentChanged (EnvironmentPtr environment)
	Set the enviroment. More...

void	exportTrajectory ()
	Stages the given trajectory for export. More...

void	exportTrajectory (int fps)
	Stages the given trajectory for export. More...

void	import (DesignerTrajectoryPtr designerTrajectory)
	Imports a given trajectory into the model. More...

void	playTrajectories ()
	Play all trajectories. More...

void	redo ()
	Redo trajectory. More...

void	setActiveColModelName (QString activeColModelName)
	Sets the active collision model name. More...

void	setBodyColModelsNames (QStringList bodyColModelsNames)
	Sets the body collision models names. More...

void	undo ()
	Undo trajectroy. More...

void	updateTCP (QString tcp)
	Updates the selected TCP. More...

void	updateTransition (int transition, double duration)
	Updates all values of a given transition. More...

void	updateTransition (int transition, int it)
	Updates all values of a given transition. More...

void	updateWaypoint (int waypoint)
	Updates all values of a given waypoint. More...

void	updateWaypoint (int waypoint, bool isBreakpoint)
	Updates isBreakpoint value of a given waypoint. More...

void	updateWaypoint (int waypoint, int cartesianSelection)
	Updates CartesianSelection value of a given waypoint. More...

void	updateWaypoint (int waypoint, PoseBasePtr newPoseBase)
	Updates all values of a given waypoint. More...

void	updateWaypoint (int waypoint, std::vector< double > values)
	Updates all values of a given waypoint. More...

Signals
void	addTransitionGui (int transition, double duration, double start, int it)
	Notifies other controllers about the addition of a transition. More...

void	addWaypointGui (int waypoint, std::vector< double > values, int cartesianSelection, bool isBreakpoint)
	Notifies other controllers about the addition of a waypoint. More...

void	cartesianSelectionChanged (VirtualRobot::IKSolver::CartesianSelection cs)
	cartesianSelectionChanged recalculates the configuration of the robot joints to fit the new selection More...

void	changeTransitionGui (int transition, double duration, double start, int it)
	Notifies other controllers about changes of an existing transition. More...

void	changeWaypointGui (int index, std::vector< double > values, int cartesianSelection, bool isBreakpoint)
	Notfies other controllers about changes of an existing waypoint. More...

void	enableAdd (bool enable)
	Enables or disables the add button/shortcut. More...

void	enableDeleteChange (bool enable)
	Enables or disables the delete and change button/shortcut. More...

void	enableExportButtons (bool enable)
	Enables or disables the export buttons. More...

void	enableIKSolutionButton (bool enable)
	Enables or disables the new IK solution button. More...

void	enablePreview (bool enable)
	Enables or disables the prview button/shortcut. More...

void	enablePreviewAll (bool enable)
	Enables or disables the prview all button/shortcut. More...

void	enableRedo (bool enable)
	Enables or disables the redo button/shortcut. More...

void	enableUndo (bool enable)
	Enables or disables the undo button/shortcut. More...

void	exportTrajectory (std::vector< DesignerTrajectoryPtr > trajectories)
	Provides the trajectory for ExportController. More...

void	newTrajectory (QString trajectory)
	Notifies the TCPSelcetionController about a new Trajectory. More...

void	playTrajectories (std::vector< DesignerTrajectoryPtr > designerTrajectories)
	Provides all trajectories for VisualizationController. More...

void	removeAllTrajectories ()
	Removes all trajectories from the TCP selection combo box. More...

void	removeTrajectory (QString trajectory)
	Removes the given trajectory from the TCP selection combo box. More...

void	removeTransitionGui (int index)
	Notifies other controllers about the deletion of a given transtion. More...

void	removeTransitionWaypointGui ()
	Notifies WaypointTab and Transition to delete all ListWidgets. More...

void	removeWaypointGui (int index)
	Notifies other controllers about the deletion of a given waypoint. More...

void	rnsChanged (VirtualRobot::RobotNodeSetPtr rns)
	Notifies the VisualizationController about a changed RobotNodeSet. More...

void	showTrajectory (DesignerTrajectoryPtr designerTrajectory)
	Provides the trajectory for VisualizationController. More...

void	updateSelectedTCP (QString trajectory)
	Updates the currently displayed trajectory of the corresponding TCP. More...

Public Member Functions
const Eigen::VectorXf &	getCurrentError () const

double	getCurrentTimestamp () const

const Eigen::VectorXf &	getPositions () const

const TrajectoryPtr &	getTraj () const

void	onConnectComponent () override

void	onDisconnectComponent () override

void	onExitComponent () override

void	onInitComponent () override

	TrajectoryController ()
	Creates a new TrajectoryController and assigns a QWidget to handle. More...

	TrajectoryController (const TrajectoryPtr &traj, float kp, float ki=0.0f, float kd=0.0f, bool threadSafe=true, float maxIntegral=std::numeric_limits< float >::max())

const Eigen::VectorXf &	update (double deltaT, const Eigen::VectorXf &currentPosition)

Static Public Member Functions
static void	FoldLimitlessJointPositions (TrajectoryPtr traj)

static void	UnfoldLimitlessJointPositions (TrajectoryPtr traj)

Protected Attributes
Eigen::VectorXf	currentError

double	currentTimestamp

MultiDimPIDControllerPtr	pid

Eigen::VectorXf	positions

TrajectoryPtr	traj

Eigen::VectorXf	veloctities

Detailed Description

Subcontroller which handles all program interaction with the modle, communicates with other controllers via signals and slots.

Definition at line 32 of file TrajectoryController.h.

Constructor & Destructor Documentation

◆ TrajectoryController() [1/2]

TrajectoryController	(	const TrajectoryPtr &	traj,
		float	kp,
		float	ki = `0.0f`,
		float	kd = `0.0f`,
		bool	threadSafe = `true`,
		float	maxIntegral = `std::numeric_limits<float>::max()`
	)

Definition at line 32 of file TrajectoryController.cpp.

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◆ TrajectoryController() [2/2]

TrajectoryController ( )

Creates a new TrajectoryController and assigns a QWidget to handle.

Definition at line 38 of file TrajectoryController.cpp.

Member Function Documentation

◆ addTransitionGui

void addTransitionGui	(	int	transition,
		double	duration,
		double	start,
		int	it
	)

signal

Notifies other controllers about the addition of a transition.

Parameters

duration	Duration of the transition
start	Start time of the transition
it	Index of the interpolation of the transition
transition	Index of the transition

◆ addWaypoint

void addWaypoint	(	int	waypoint,
		bool	insertAfter
	)

slot

Adds a new waypoint relative to the given waypoint.

Parameters

constraints	Constraints of the new waypoint: isBreakpoint, ikConstraints, insertBefore/-After
waypoint	Index of the waypoint
cartesianSelection	Integer representing the cartesian selection
insertAfter	Boolean determining whether to insert after the waypoint or before
isBreakpoint	Boolean determining whether the waypoint is a breakpoint

Definition at line 304 of file TrajectoryController.cpp.

◆ addWaypointGui

void addWaypointGui	(	int	waypoint,
		std::vector< double >	values,
		int	cartesianSelection,
		bool	isBreakpoint
	)

signal

Notifies other controllers about the addition of a waypoint.

Parameters

values	Array containting x, y, z, coordinates as well as r, p, y euler angles of the waypoint
constraints	Constraints of the waypoint: isBreakpoint, ikConstraints
waypoint	Index of the waypoint

◆ cartesianSelectionChanged

void cartesianSelectionChanged ( VirtualRobot::IKSolver::CartesianSelection cs )

signal

cartesianSelectionChanged recalculates the configuration of the robot joints to fit the new selection

Parameters

cs	the new CartesianSelection

◆ changeTransitionGui

void changeTransitionGui	(	int	transition,
		double	duration,
		double	start,
		int	it
	)

signal

Notifies other controllers about changes of an existing transition.

Parameters

duration	Duration of the transition
start	Start time of the transition
it	Index of interpolation of the transition
transition	Index of the transition

◆ changeWaypointGui

void changeWaypointGui	(	int	index,
		std::vector< double >	values,
		int	cartesianSelection,
		bool	isBreakpoint
	)

signal

Notfies other controllers about changes of an existing waypoint.

Parameters

values	Array containting x, y, z, coordinates as well as a, b, g euler angles of the waypoint
constraints	Constraints of the waypoint: isBreakpoint, ikConstraints
waypoint	Index of the waypoint

◆ deleteWaypoint

void deleteWaypoint ( int waypoint )

slot

Deletes the given waypoint.

Parameters

waypoint Index of the waypoint

Definition at line 406 of file TrajectoryController.cpp.

◆ enableAdd

void enableAdd ( bool enable )

signal

Enables or disables the add button/shortcut.

Parameters

enable Determines whether to enable or disable the add button/shortcut

◆ enableDeleteChange

void enableDeleteChange ( bool enable )

signal

Enables or disables the delete and change button/shortcut.

Parameters

enable Determines whether to enable or disable the delete and change button/shortcut

◆ enableExportButtons

void enableExportButtons ( bool enable )

signal

Enables or disables the export buttons.

Parameters

enable Determines whether to enable or disable the export buttons

◆ enableIKSolutionButton

void enableIKSolutionButton ( bool enable )

signal

Enables or disables the new IK solution button.

Parameters

enable Determines whether to enable or disable the ik solution button

◆ enablePreview

void enablePreview ( bool enable )

signal

Enables or disables the prview button/shortcut.

Parameters

enable Determines whether to enable or disable the previes button/shortcut

◆ enablePreviewAll

void enablePreviewAll ( bool enable )

signal

Enables or disables the prview all button/shortcut.

Parameters

enable Determines whether to enable or disable the previes button/shortcut

◆ enableRedo

void enableRedo ( bool enable )

signal

Enables or disables the redo button/shortcut.

Parameters

enable Determines whether to enable or disable the redo button/shortcut

◆ enableUndo

void enableUndo ( bool enable )

signal

Enables or disables the undo button/shortcut.

Parameters

enable Determines whether to enable or disable the undo button/shortcut

◆ environmentChanged

void environmentChanged ( EnvironmentPtr environment )

slot

Set the enviroment.

Parameters

The	new enviroment

Definition at line 607 of file TrajectoryController.cpp.

◆ exportTrajectory [1/3]

void exportTrajectory ( )

slot

Stages the given trajectory for export.

Definition at line 539 of file TrajectoryController.cpp.

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◆ exportTrajectory [2/3]

void exportTrajectory ( int fps )

slot

Stages the given trajectory for export.

Parameters

fps	for export to MMM

Definition at line 519 of file TrajectoryController.cpp.

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◆ exportTrajectory [3/3]

void exportTrajectory ( std::vector< DesignerTrajectoryPtr > trajectories )

signal

Provides the trajectory for ExportController.

Parameters

trajectory Trajectory to provide

◆ FoldLimitlessJointPositions()

void FoldLimitlessJointPositions ( TrajectoryPtr traj )

static

Definition at line 178 of file TrajectoryController.cpp.

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◆ getCurrentError()

const Eigen::VectorXf & getCurrentError ( ) const

Definition at line 205 of file TrajectoryController.cpp.

◆ getCurrentTimestamp()

double getCurrentTimestamp ( ) const

Definition at line 129 of file TrajectoryController.cpp.

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◆ getPositions()

const Eigen::VectorXf & getPositions ( ) const

Definition at line 211 of file TrajectoryController.cpp.

◆ getTraj()

const TrajectoryPtr & getTraj ( ) const

Definition at line 135 of file TrajectoryController.cpp.

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◆ import

void import ( DesignerTrajectoryPtr designerTrajectory )

slot

Imports a given trajectory into the model.

Parameters

designerTrajectory Trajectory which is being imported

Definition at line 483 of file TrajectoryController.cpp.

◆ newTrajectory

void newTrajectory ( QString trajectory )

signal

Notifies the TCPSelcetionController about a new Trajectory.

Parameters

trajectory new trajectory

◆ onConnectComponent()

void onConnectComponent ( )

override

See also: AbstractController

Definition at line 19 of file TrajectoryController.cpp.

◆ onDisconnectComponent()

void onDisconnectComponent ( )

override

See also: AbstractController

Definition at line 25 of file TrajectoryController.cpp.

◆ onExitComponent()

void onExitComponent ( )

override

See also: AbstractController

Definition at line 31 of file TrajectoryController.cpp.

◆ onInitComponent()

void onInitComponent ( )

override

See also: AbstractController

Definition at line 13 of file TrajectoryController.cpp.

◆ playTrajectories [1/2]

void playTrajectories ( )

slot

Play all trajectories.

Definition at line 592 of file TrajectoryController.cpp.

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◆ playTrajectories [2/2]

void playTrajectories ( std::vector< DesignerTrajectoryPtr > designerTrajectories )

signal

Provides all trajectories for VisualizationController.

Parameters

designerTrajectories Trajectories to play

◆ redo

void redo ( )

slot

Redo trajectory.

Definition at line 575 of file TrajectoryController.cpp.

◆ removeAllTrajectories

void removeAllTrajectories ( )

signal

Removes all trajectories from the TCP selection combo box.

◆ removeTrajectory

void removeTrajectory ( QString trajectory )

signal

Removes the given trajectory from the TCP selection combo box.

Parameters

trajectory String identifier of the trajectory

◆ removeTransitionGui

void removeTransitionGui ( int index )

signal

Notifies other controllers about the deletion of a given transtion.

Parameters

index Index of the transition

◆ removeTransitionWaypointGui

void removeTransitionWaypointGui ( )

signal

Notifies WaypointTab and Transition to delete all ListWidgets.

◆ removeWaypointGui

void removeWaypointGui ( int index )

signal

Notifies other controllers about the deletion of a given waypoint.

Parameters

index Index of the waypoitn

◆ rnsChanged

void rnsChanged ( VirtualRobot::RobotNodeSetPtr rns )

signal

Notifies the VisualizationController about a changed RobotNodeSet.

Parameters

rns	new RobotNodeSet

◆ setActiveColModelName

void setActiveColModelName ( QString activeColModelName )

slot

Sets the active collision model name.

Parameters

activeColModelName Active collision model name

Definition at line 620 of file TrajectoryController.cpp.

◆ setBodyColModelsNames

void setBodyColModelsNames ( QStringList bodyColModelsNames )

slot

Sets the body collision models names.

Parameters

activeColModelName Body collision models names

Definition at line 627 of file TrajectoryController.cpp.

◆ showTrajectory

void showTrajectory ( DesignerTrajectoryPtr designerTrajectory )

signal

Provides the trajectory for VisualizationController.

Parameters

designerTrajectory Trajectory to provide

◆ undo

void undo ( )

slot

Undo trajectroy.

Definition at line 558 of file TrajectoryController.cpp.

◆ UnfoldLimitlessJointPositions()

void UnfoldLimitlessJointPositions ( TrajectoryPtr traj )

static

Definition at line 141 of file TrajectoryController.cpp.

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◆ update()

const Eigen::VectorXf & update	(	double	deltaT,
		const Eigen::VectorXf &	currentPosition
	)

Definition at line 67 of file TrajectoryController.cpp.

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◆ updateSelectedTCP

void updateSelectedTCP ( QString trajectory )

signal

Updates the currently displayed trajectory of the corresponding TCP.

Parameters

trajectory String identifier of the trajectory

◆ updateTCP

void updateTCP ( QString tcp )

slot

Updates the selected TCP.

Parameters

index Index of the selected TCP

Definition at line 45 of file TrajectoryController.cpp.

◆ updateTransition [1/2]

void updateTransition	(	int	transition,
		double	duration
	)

slot

Updates all values of a given transition.

Parameters

transition	Index of the transition
duration	Duration of the transition

Definition at line 133 of file TrajectoryController.cpp.

◆ updateTransition [2/2]

void updateTransition	(	int	transition,
		int	it
	)

slot

Updates all values of a given transition.

Parameters

transition	Index of the transition
it	Index of the interpolation of the transition

Definition at line 103 of file TrajectoryController.cpp.

◆ updateWaypoint [1/5]

void updateWaypoint ( int waypoint )

slot

Updates all values of a given waypoint.

Parameters

waypoint Index of the waypoint

Definition at line 183 of file TrajectoryController.cpp.

◆ updateWaypoint [2/5]

void updateWaypoint	(	int	waypoint,
		bool	isBreakpoint
	)

slot

Updates isBreakpoint value of a given waypoint.

Parameters

waypoint	Index of the waypoint
isBreakpoint	Boolean determining whether the waypoint is a breakpoint

Definition at line 273 of file TrajectoryController.cpp.

◆ updateWaypoint [3/5]

void updateWaypoint	(	int	waypoint,
		int	cartesianSelection
	)

slot

Updates CartesianSelection value of a given waypoint.

Parameters

waypoint	Index of the waypoint
cartesianSelection	Integer representing the cartesian selection or before

Definition at line 240 of file TrajectoryController.cpp.

◆ updateWaypoint [4/5]

void updateWaypoint	(	int	waypoint,
		PoseBasePtr	newPoseBase
	)

slot

Updates all values of a given waypoint.

Parameters

waypoint	Index of the waypoint
newPoseBase	Is the new PoseBase of the waypoint

Definition at line 210 of file TrajectoryController.cpp.

◆ updateWaypoint [5/5]

void updateWaypoint	(	int	waypoint,
		std::vector< double >	values
	)

slot

Updates all values of a given waypoint.

Parameters

waypoint	Index of the waypoint
values	Array containing the x, y, z, coordinates of a waypoint as well as the r, p, y euler angles

Definition at line 155 of file TrajectoryController.cpp.

Member Data Documentation

◆ currentError

Eigen::VectorXf currentError

protected

Definition at line 63 of file TrajectoryController.h.

◆ currentTimestamp

double currentTimestamp

protected

Definition at line 60 of file TrajectoryController.h.

◆ pid

MultiDimPIDControllerPtr pid

protected

Definition at line 58 of file TrajectoryController.h.

◆ positions

Eigen::VectorXf positions

protected

Definition at line 61 of file TrajectoryController.h.

◆ traj

TrajectoryPtr traj

protected

Definition at line 57 of file TrajectoryController.h.

◆ veloctities

Eigen::VectorXf veloctities

protected

Definition at line 62 of file TrajectoryController.h.

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

RobotAPI/libraries/core/TrajectoryController.h
RobotAPI/libraries/core/TrajectoryController.cpp

Public Slots

Signals

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TrajectoryController() [1/2]

◆ TrajectoryController() [2/2]

Member Function Documentation

◆ addTransitionGui

◆ addWaypoint

◆ addWaypointGui

◆ cartesianSelectionChanged

◆ changeTransitionGui

◆ changeWaypointGui

◆ deleteWaypoint

◆ enableAdd

◆ enableDeleteChange

◆ enableExportButtons

◆ enableIKSolutionButton

◆ enablePreview

◆ enablePreviewAll

◆ enableRedo

◆ enableUndo

◆ environmentChanged

◆ exportTrajectory [1/3]

◆ exportTrajectory [2/3]

◆ exportTrajectory [3/3]

◆ FoldLimitlessJointPositions()

◆ getCurrentError()

◆ getCurrentTimestamp()

◆ getPositions()

◆ getTraj()

◆ import

◆ newTrajectory

◆ onConnectComponent()

◆ onDisconnectComponent()

◆ onExitComponent()

◆ onInitComponent()

◆ playTrajectories [1/2]

◆ playTrajectories [2/2]

◆ redo

◆ removeAllTrajectories

◆ removeTrajectory

◆ removeTransitionGui

◆ removeTransitionWaypointGui

◆ removeWaypointGui

◆ rnsChanged

◆ setActiveColModelName

◆ setBodyColModelsNames

◆ showTrajectory

◆ undo

◆ UnfoldLimitlessJointPositions()

◆ update()

◆ updateSelectedTCP

◆ updateTCP

◆ updateTransition [1/2]

◆ updateTransition [2/2]

◆ updateWaypoint [1/5]

◆ updateWaypoint [2/5]

◆ updateWaypoint [3/5]

◆ updateWaypoint [4/5]

◆ updateWaypoint [5/5]

Member Data Documentation

◆ currentError

◆ currentTimestamp

◆ pid

◆ positions

◆ traj

◆ veloctities