UserWaypoint Class Reference

The UserWaypoint class represents a waypoint of the trajectory. More...

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

Public Member Functions
IKSelection	getIKSelection () const
	Returns the VirtualRobot::IKSolver::CartesianSelection of the UserWaypoint.
bool	getIsTimeOptimalBreakpoint () const
	Returns if the UserWaypoint is breakpoint.
std::vector< double >	getJointAngles () const
	Returns the jointAngles of the UserWaypoint.
PoseBasePtr	getPose ()
	Returns the PoseBasePtr of the UserWaypoint.
double	getTimeOptimalTimestamp () const
	Returns the timeOptimalTimestamp of the UserWaypoint which is calculate by the TrajectoryCalculation.
double	getUserTimestamp () const
	Returns the UserTimestamp.
void	setIKSelection (const IKSelection &value)
	Set the new IKSelection of the UserWaypoint.
void	setIsTimeOptimalBreakpoint (bool value)
	Set isTimeOptimalBreakpoint.
void	setJointAngles (const std::vector< double > &value)
	Set the new JointAngles of the UserWaypoint.
void	setPose (const PoseBasePtr &value)
	Set the new PoseBase of the UserWaypoint.
void	setTimeOptimalTimestamp (double value)
	Set the time optimal timestamp of the UserWaypoint calculate by TrajectoryCalculation.
void	setUserTimestamp (double value)
	Set the new UserDuration and tests if its greater than timeOptimalTimestamp.
	UserWaypoint (const UserWaypoint &source)
	UserWaypoint (PoseBasePtr newPose)
	UserWaypoint.

Detailed Description

The UserWaypoint class represents a waypoint of the trajectory.

Constructor & Destructor Documentation

UserWaypoint() [1/2]

UserWaypoint

(

PoseBasePtr

newPose

)

UserWaypoint.

Parameters

newPose

UserWaypoint() [2/2]

UserWaypoint

(

const UserWaypoint &

source

)

Member Function Documentation

getIKSelection()

IKSelection getIKSelection

(

)

const

Returns the VirtualRobot::IKSolver::CartesianSelection of the UserWaypoint.

Returns

IKSelections

getIsTimeOptimalBreakpoint()

bool getIsTimeOptimalBreakpoint

(

)

const

Returns if the UserWaypoint is breakpoint.

Returns

getJointAngles()

std::vector< double > getJointAngles

(

)

const

Returns the jointAngles of the UserWaypoint.

Returns

jointAngles

getPose()

PoseBasePtr getPose

(

)

Returns the PoseBasePtr of the UserWaypoint.

Returns

PoseBasePtr

getTimeOptimalTimestamp()

double getTimeOptimalTimestamp

(

)

const

Returns the timeOptimalTimestamp of the UserWaypoint which is calculate by the TrajectoryCalculation.

Returns

timeOptimalTimestamp

getUserTimestamp()

double getUserTimestamp

(

)

const

Returns the UserTimestamp.

Returns

userTimestamp

setIKSelection()

void setIKSelection

(

const IKSelection &

value

)

Set the new IKSelection of the UserWaypoint.

Parameters

iKSelection

setIsTimeOptimalBreakpoint()

void setIsTimeOptimalBreakpoint

(

bool

value

)

Set isTimeOptimalBreakpoint.

Parameters

is	breakpoint or not

setJointAngles()

void setJointAngles

(

const std::vector< double > &

value

)

Set the new JointAngles of the UserWaypoint.

Parameters

new	JointAngles

setPose()

void setPose

(

const PoseBasePtr &

value

)

Set the new PoseBase of the UserWaypoint.

Parameters

new	PoseBasePtr

setTimeOptimalTimestamp()

void setTimeOptimalTimestamp

(

double

value

)

Set the time optimal timestamp of the UserWaypoint calculate by TrajectoryCalculation.

Parameters

time	optimal Timestamp

setUserTimestamp()

void setUserTimestamp

(

double

value

)

Set the new UserDuration and tests if its greater than timeOptimalTimestamp.

Parameters

user

timestamp

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

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