The InterpolationSegmentFactory class Utility Class used to easily create InterpolationSegments, so that every Interpolation can be threated the same An Interpolation produced by this factory always has exactly two Waypoints and is defined between 0 and 1 With 0 being the starting pose and 1 being the end pose. More...

#include <RobotComponents/gui-plugins/RobotTrajectoryDesignerGuiPlugin/Interpolation/InterpolationSegmentFactory.h>

Static Public Member Functions
static VirtualRobot::IKSolver::CartesianSelection	getSmallestDominating (std::vector< VirtualRobot::IKSolver::CartesianSelection > selections)
	getSmallestDominating returns the cartesian selection that dominates all other cartesian selections in selections Examples: (X,Y,Y,Y,Z) -> Pos ; (X,Y, Ori) -> All; (Ori,Ori) -> Ori ; (X,Z,Pos) -> Pos

static bool	isDominantOver (VirtualRobot::IKSolver::CartesianSelection current, VirtualRobot::IKSolver::CartesianSelection other)
	isDominantOver returns true when current selection dominates other selection Definition: A CartesianSelection dominates another CartesianSelection when additional Information is needed to solve curren after solving other Examples: - X dominates Y ; Y dominates X ; Pos dominates X,Y ans Z but X,Y and Z dont dominate Pos; Pos dominates Ori ; Ori dominates Pos

static bool	needsOptimizing (std::vector< VirtualRobot::IKSolver::CartesianSelection > &selections)
	needsOptimizing returns true if there is a CartesianSelection at i that dominates a CartesianSelection at i - 1

static void	optimizeControlPoints (std::vector< PoseBasePtr > &controlPoints, std::vector< VirtualRobot::IKSolver::CartesianSelection > &selections)
	optimizeControlPoints changes the cartian selections and control points so that the IKSolving produces a smooth Trajectory

static PoseBasePtr	optimizePose (armarx::PoseBasePtr original, armarx::PoseBasePtr corrected, VirtualRobot::IKSolver::CartesianSelection selectionOriginal, VirtualRobot::IKSolver::CartesianSelection selectionCorrected)
	optimizePose changes the original pose so that the interpolation is smove when it changes from selectionOriginal to selectionCorrected

static std::vector< AbstractInterpolationPtr >	produceInterpolationSegments (std::vector< PoseBasePtr > controlPoints, std::vector< InterpolationType > interpolations)
	produceInterpolationSegments constructs a vector of AbstractInterpolation the concrete Interpolationtype of which is defined by interpolations

static std::vector< AbstractInterpolationPtr >	produceLinearInterpolationSegments (std::vector< PoseBasePtr > controlPoints)
	produceInterpolationSegments constructs a vector of LinearInterpolations

static AbstractInterpolationPtr	produceSplineInterpolationSegment (std::vector< PoseBasePtr > controlPoints, PoseBasePtr segmentStart)
	produceSplineInterpolationSegment constructs the splineInterpolationSegment of a splineInterpolation between given controlPoints

static std::vector< AbstractInterpolationPtr >	produceSplineInterpolationSegments (std::vector< PoseBasePtr > controlPoints)
	produceInterpolationSegments constructs a vector of SplineInterpolations

Detailed Description

The InterpolationSegmentFactory class Utility Class used to easily create InterpolationSegments, so that every Interpolation can be threated the same An Interpolation produced by this factory always has exactly two Waypoints and is defined between 0 and 1 With 0 being the starting pose and 1 being the end pose.

Member Function Documentation

◆ getSmallestDominating()

IKSolver::CartesianSelection getSmallestDominating ( std::vector< VirtualRobot::IKSolver::CartesianSelection > selections )

static

getSmallestDominating returns the cartesian selection that dominates all other cartesian selections in selections Examples: (X,Y,Y,Y,Z) -> Pos ; (X,Y, Ori) -> All; (Ori,Ori) -> Ori ; (X,Z,Pos) -> Pos

Parameters

selections the selections to get the smallest dominating selection from

Returns: the smmallestDominating Selection

◆ isDominantOver()

bool isDominantOver	(	VirtualRobot::IKSolver::CartesianSelection	current,
		VirtualRobot::IKSolver::CartesianSelection	other )

static

isDominantOver returns true when current selection dominates other selection Definition: A CartesianSelection dominates another CartesianSelection when additional Information is needed to solve curren after solving other Examples: - X dominates Y ; Y dominates X ; Pos dominates X,Y ans Z but X,Y and Z dont dominate Pos; Pos dominates Ori ; Ori dominates Pos

Parameters

current	the later cartesian selection
other	the prior cartesian selection

Returns: true if current dominates other

◆ needsOptimizing()

bool needsOptimizing ( std::vector< VirtualRobot::IKSolver::CartesianSelection > & selections )

static

needsOptimizing returns true if there is a CartesianSelection at i that dominates a CartesianSelection at i - 1

Parameters

selections the cartesian selection that should be reached

Returns: true if the cartesian Selection need optimizing for a smooth trajectory

◆ optimizeControlPoints()

void optimizeControlPoints	(	std::vector< PoseBasePtr > &	controlPoints,
		std::vector< VirtualRobot::IKSolver::CartesianSelection > &	selections )

static

optimizeControlPoints changes the cartian selections and control points so that the IKSolving produces a smooth Trajectory

InterpolationSegmentFactory::optimizeControlPoints.

Parameters

controlPoints	the controlPoints to change to make the Trajectory smooth
selections	the cartesian selections to optimize
controlPoints
selections

◆ optimizePose()

PoseBasePtr optimizePose	(	armarx::PoseBasePtr	original,
		armarx::PoseBasePtr	corrected,
		VirtualRobot::IKSolver::CartesianSelection	selectionOriginal,
		VirtualRobot::IKSolver::CartesianSelection	selectionCorrected )

static

optimizePose changes the original pose so that the interpolation is smove when it changes from selectionOriginal to selectionCorrected

Parameters

original	the original Pose
corrected	the absolute corrected Pose
selectionOriginal	the cartesian selection associated with the original Pose
selectionCorrected	the cartesian selection associated with the corrected Pose

Returns

◆ produceInterpolationSegments()

std::vector< AbstractInterpolationPtr > produceInterpolationSegments	(	std::vector< PoseBasePtr >	controlPoints,
		std::vector< InterpolationType >	interpolations )

static

produceInterpolationSegments constructs a vector of AbstractInterpolation the concrete Interpolationtype of which is defined by interpolations

Parameters

controlPoints	the Poses the interpolation curves go through; segment i starts at controlPoint i and ends at control point i + 1
interpolations	the InterpolationTypes of the Interpolation segments (warning: at least 2 segments in a row have to have spline intepolation)

Returns: a vector of |controlPoints| - 1 AbstractInterpolations between the control points

◆ produceLinearInterpolationSegments()

std::vector< AbstractInterpolationPtr > produceLinearInterpolationSegments ( std::vector< PoseBasePtr > controlPoints )

static

produceInterpolationSegments constructs a vector of LinearInterpolations

Parameters

controlPoints the Poses the interpolation curves go through; segment i starts at controlPoint i and ends at control point i + 1

Returns: a vector of |controlPoints| - 1 LinearInterpolations between the control points

◆ produceSplineInterpolationSegment()

AbstractInterpolationPtr produceSplineInterpolationSegment	(	std::vector< PoseBasePtr >	controlPoints,
		PoseBasePtr	segmentStart )

static

produceSplineInterpolationSegment constructs the splineInterpolationSegment of a splineInterpolation between given controlPoints

Parameters

controlPoints	the controlPoints of the parent SplineInterpolatiom
segmentStart	the first Point in the Interval

Returns: a SplineInterpolationSegment between segmentStart and the following control point

◆ produceSplineInterpolationSegments()

std::vector< AbstractInterpolationPtr > produceSplineInterpolationSegments ( std::vector< PoseBasePtr > controlPoints )

static

produceInterpolationSegments constructs a vector of SplineInterpolations

Parameters

controlPoints the Poses the interpolation curves go through; segment i starts at controlPoint i and ends at control point i + 1

Returns: a vector of |controlPoints| - 1 SplineInterpolations between the control points

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

RobotComponents/gui-plugins/RobotTrajectoryDesignerGuiPlugin/Interpolation/InterpolationSegmentFactory.h
RobotComponents/gui-plugins/RobotTrajectoryDesignerGuiPlugin/Interpolation/InterpolationSegmentFactory.cpp

Static Public Member Functions

Detailed Description

Member Function Documentation

◆ getSmallestDominating()

◆ isDominantOver()

◆ needsOptimizing()

◆ optimizeControlPoints()

◆ optimizePose()

◆ produceInterpolationSegments()

◆ produceLinearInterpolationSegments()

◆ produceSplineInterpolationSegment()

◆ produceSplineInterpolationSegments()