#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

Detailed Description

Definition at line 36 of file DesignerTrajectory.h.

Constructor & Destructor Documentation

◆ DesignerTrajectory() [1/2]

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

Definition at line 47 of file DesignerTrajectory.cpp.

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◆ DesignerTrajectory() [2/2]

DesignerTrajectory ( const DesignerTrajectory & source )

Deep copy constructor of designerTrajectory.

Parameters

source designertrajectory to copy

Definition at line 88 of file DesignerTrajectory.cpp.

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Member Function Documentation

◆ addFirstUserWaypoint()

void addFirstUserWaypoint ( UserWaypointPtr & point )

add a new first userWaypoint

Parameters

point userwaypoint

Definition at line 120 of file DesignerTrajectory.cpp.

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◆ addLastUserWaypoint()

void addLastUserWaypoint ( UserWaypointPtr & point )

add new last userWaypoint

Parameters

point userwaypoint

Definition at line 139 of file DesignerTrajectory.cpp.

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◆ 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

Definition at line 192 of file DesignerTrajectory.cpp.

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◆ getAllUserWaypoints() [1/2]

std::vector< UserWaypointPtr > getAllUserWaypoints ( )

get all userwaypoints

Returns: all userwaypoints

Definition at line 292 of file DesignerTrajectory.cpp.

◆ getAllUserWaypoints() [2/2]

std::vector< UserWaypointPtr > getAllUserWaypoints ( ) const

get a copy of all userwaypoints

Returns: all userwaypoints

Definition at line 280 of file DesignerTrajectory.cpp.

◆ getFinalTrajectory()

TrajectoryPtr getFinalTrajectory ( )

get the final trajectory with the right durations

Returns: trajectory

Definition at line 298 of file DesignerTrajectory.cpp.

◆ getInterBreakpointTrajectories()

std::vector< TrajectoryPtr > getInterBreakpointTrajectories ( )

Returns the interBreakpointTrajectories.

Returns: interBreakpointTrajectories

Definition at line 28 of file DesignerTrajectory.cpp.

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◆ getNrOfUserWaypoints()

unsigned int getNrOfUserWaypoints ( ) const

get the number of the userwaypoints

Returns: number

Definition at line 223 of file DesignerTrajectory.cpp.

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◆ getRns()

VirtualRobot::RobotNodeSetPtr getRns ( )

get the robot node set of the designertrajectory

Returns: robotnodeset

Definition at line 9 of file DesignerTrajectory.cpp.

◆ getTimeOptimalTrajectory()

TrajectoryPtr getTimeOptimalTrajectory ( )

get the time optimal trajectory.

Calculated out of all breakpoint trajectories.

Returns: time optimal Trajectory

Definition at line 255 of file DesignerTrajectory.cpp.

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◆ getTrajectorySegment()

TrajectoryPtr getTrajectorySegment ( unsigned int index )

get one interBreakPoint trajectory

Parameters

index the index

Returns: interBreakpointTrajectorie

Definition at line 267 of file DesignerTrajectory.cpp.

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◆ getTransition()

TransitionPtr getTransition ( unsigned int index )

get the transition

Parameters

index index of transition

Returns: the transition

Definition at line 242 of file DesignerTrajectory.cpp.

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◆ getUserWaypoint()

UserWaypointPtr getUserWaypoint ( unsigned int index )

get the userWaypoint

Parameters

index index of userwaypoint

Returns: the userwaypoint

Definition at line 229 of file DesignerTrajectory.cpp.

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◆ insertUserWaypoint()

void insertUserWaypoint	(	UserWaypointPtr &	point,
		unsigned int	index )

insert userwaypoint before index

Parameters

point	userwaypoint
index	index

Definition at line 157 of file DesignerTrajectory.cpp.

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◆ setInterBreakpointTrajectories()

void setInterBreakpointTrajectories ( const std::vector< TrajectoryPtr > & value )

set the interBreakpointTrajectories

Parameters

value interBreakpointTrajectories

Definition at line 34 of file DesignerTrajectory.cpp.

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◆ setRns()

void setRns ( const VirtualRobot::RobotNodeSetPtr & value )

set the robotnodeset

Parameters

value robotnodeset

Definition at line 15 of file DesignerTrajectory.cpp.

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

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ DesignerTrajectory() [1/2]

◆ DesignerTrajectory() [2/2]

Member Function Documentation

◆ addFirstUserWaypoint()

◆ addLastUserWaypoint()

◆ deleteUserWaypoint()

◆ getAllUserWaypoints() [1/2]

◆ getAllUserWaypoints() [2/2]

◆ getFinalTrajectory()

◆ getInterBreakpointTrajectories()

◆ getNrOfUserWaypoints()

◆ getRns()

◆ getTimeOptimalTrajectory()

◆ getTrajectorySegment()

◆ getTransition()

◆ getUserWaypoint()

◆ insertUserWaypoint()

◆ setInterBreakpointTrajectories()

◆ setRns()