DesignerTrajectoryManager Class Reference

The DesignerTrajectoryManager class enables easy interaction with the model. More...

#include <RobotComponents/gui-plugins/RobotTrajectoryDesignerGuiPlugin/Manager/DesignerTrajectoryManager.h>

Public Member Functions
void	addWaypoint (const PoseBasePtr pose)
	Adds a UserWaypoint to the end of this manager's DesignerTrajectory.
void	deleteWaypoint (unsigned int index)
	Deletes a UserWaypoint from this manager's DesignerTrajectory.
	DesignerTrajectoryManager (std::string rnsName, EnvironmentPtr environment_)
	Constructor(s)
void	editWaypointIKSelection (unsigned int index, VirtualRobot::IKSolver::CartesianSelection ikSelection)
	Edits the IKSelection of a UserWaypoint.
void	editWaypointPoseBase (unsigned int index, const PoseBasePtr pose)
	Edits the pose of a UserWaypoint.
DesignerTrajectoryPtr	getDesignerTrajectory () const
	Returns a deep copy of this manager's DesignerTrajectory.
bool	getIsInitialized ()
	True if the DesignerTrajectory is initialized.
bool	import (DesignerTrajectoryPtr newDesignerTrajectory)
	Overrides the current DesignerTrajectory with the given DesignerTrajectory.
void	initializeDesignerTrajectory (std::vector< double > &jointAngles)
	Public functions.
void	insertWaypoint (unsigned int index, const PoseBasePtr pose)
	Inserts a UserWaypoint at the given position to this manager's DesignerTrajectory.
bool	redo ()
	redo
bool	redoPossible ()
void	setTransitionInterpolation (unsigned int index, InterpolationType it)
	Sets the InterpolationType of a Transition from this manager's DesignerTrajectory.
void	setTransitionUserDuration (unsigned int index, double duration)
	Sets the desired duration of a Transition.
void	setWaypointAsBreakpoint (unsigned int index, bool b)
	Sets a UserWaypoint as (not-) breakpoint.
bool	undo ()
	undo
bool	undoPossible ()
	setCollisionModels Sets the collision models on the collision detection attribute

Detailed Description

The DesignerTrajectoryManager class enables easy interaction with the model.

Using this class, the model is always self-consistent.

See also

DesignerTrajectory

Constructor & Destructor Documentation

DesignerTrajectoryManager()

DesignerTrajectoryManager	(	std::string	rnsName,
		EnvironmentPtr	environment_ )

Constructor(s)

Constructor of this class.

Parameters

rns	RobotNodeSet

Member Function Documentation

addWaypoint()

void addWaypoint

(

const PoseBasePtr

pose

)

Adds a UserWaypoint to the end of this manager's DesignerTrajectory.

To create this UserWaypoint the following parameters are needed:

Parameters

pose	pose of the UserWaypoint

deleteWaypoint()

void deleteWaypoint

(

unsigned int

index

)

Deletes a UserWaypoint from this manager's DesignerTrajectory.

Parameters

index

index of the UserWaypoint to delete

editWaypointIKSelection()

void editWaypointIKSelection	(	unsigned int	index,
		VirtualRobot::IKSolver::CartesianSelection	ikSelection )

Edits the IKSelection of a UserWaypoint.

Parameters

index	index of the UserWaypoint to edit
ikSelection	new IKSelection

editWaypointPoseBase()

void editWaypointPoseBase	(	unsigned int	index,
		const PoseBasePtr	pose )

Edits the pose of a UserWaypoint.

Parameters

index	index of the UserWaypoint to edit
pose	new pose

getDesignerTrajectory()

DesignerTrajectoryPtr getDesignerTrajectory

(

)

const

Returns a deep copy of this manager's DesignerTrajectory.

Returns

a deep copy of this manager's DesignerTrajectory

getIsInitialized()

bool getIsInitialized

(

)

True if the DesignerTrajectory is initialized.

Returns

isInitialized member

import()

bool import

(

DesignerTrajectoryPtr

newDesignerTrajectory

)

Overrides the current DesignerTrajectory with the given DesignerTrajectory.

Parameters

designerTrajectory

new DesignerTrajectory

initializeDesignerTrajectory()

void initializeDesignerTrajectory

(

std::vector< double > &

jointAngles

)

Public functions.

Public Functions.

Initializes the DesignerTrajectory object of this manager instance.

Parameters

jointAngles

start jointangle-configuration of the trajectory

insertWaypoint()

void insertWaypoint	(	unsigned int	index,
		const PoseBasePtr	pose )

Inserts a UserWaypoint at the given position to this manager's DesignerTrajectory.

To create this UserWaypoint the following parameters are needed:

Parameters

index	position to insert the UserWaypoint into
pb	pose of the UserWaypoint

redo()

bool redo

(

)

redo

Returns

redoPossible()

bool redoPossible

(

)

setTransitionInterpolation()

void setTransitionInterpolation	(	unsigned int	index,
		InterpolationType	it )

Sets the InterpolationType of a Transition from this manager's DesignerTrajectory.

Parameters

index	index of the Transition to edit
it	new InterpolationType

setTransitionUserDuration()

void setTransitionUserDuration	(	unsigned int	index,
		double	duration )

Sets the desired duration of a Transition.

Parameters

index	index of the Transition to edit
duration	desired duration

setWaypointAsBreakpoint()

void setWaypointAsBreakpoint	(	unsigned int	index,
		bool	b )

Sets a UserWaypoint as (not-) breakpoint.

Parameters

index	index of the UserWaypoint to edit
b	true when the selected UserWaypoint should be a breakpoint false when the selected UserWaypoint should not be a breakpoint

undo()

bool undo

(

)

undo

Returns

undoPossible()

bool undoPossible

(

)

setCollisionModels Sets the collision models on the collision detection attribute

Parameters

activeCollisionModel	The collision model of the RobotNodeSet which gets manipulated
bodyCollisionModels	The collision models to check against

---

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

• RobotComponents/gui-plugins/RobotTrajectoryDesignerGuiPlugin/Manager/DesignerTrajectoryManager.h
• RobotComponents/gui-plugins/RobotTrajectoryDesignerGuiPlugin/Manager/DesignerTrajectoryManager.cpp