LocalGuidance
A library that generates velocity references to follow a path.
robot_utils::BasicFifthOrderPoseInterpolator Class Reference

#include <BasicFifthOrderPoseInterpolator.hpp>

Public Member Functions

 BasicFifthOrderPoseInterpolator ()
 
 ~BasicFifthOrderPoseInterpolator ()=default
 
bool initialize (const Pose &initialPose, const Pose &finalPose, double motionDuration)
 
bool advance (double dt)
 
const PosegetCurrentPose ()
 
const TwistgetCurrentTwist ()
 
bool isFinished ()
 
bool abort ()
 

Protected Types

using Position = kindr::Position3D
 
using RotationQuaternion = kindr::RotationQuaternionD
 
using Pose = kindr::HomTransformQuatD
 
using LinearVelocity = kindr::Velocity3D
 
using AngularVelocity = kindr::LocalAngularVelocityPD
 
using Twist = kindr::TwistLinearVelocityLocalAngularVelocityPD
 

Protected Attributes

Pose initialPose_
 
Pose finalPose_
 
Pose currentPose_
 
Twist currentTwist_
 
double motionDuration_
 
double t_
 
double s_
 
double sDot_
 
Position totalTranslationDifference_
 
Eigen::Vector3d totalRotationDifference_
 
bool poseInterpolationIsFinished_
 

Member Typedef Documentation

using robot_utils::BasicFifthOrderPoseInterpolator::AngularVelocity = kindr::LocalAngularVelocityPD
protected
using robot_utils::BasicFifthOrderPoseInterpolator::Pose = kindr::HomTransformQuatD
protected
using robot_utils::BasicFifthOrderPoseInterpolator::Position = kindr::Position3D
protected
using robot_utils::BasicFifthOrderPoseInterpolator::RotationQuaternion = kindr::RotationQuaternionD
protected
using robot_utils::BasicFifthOrderPoseInterpolator::Twist = kindr::TwistLinearVelocityLocalAngularVelocityPD
protected

Constructor & Destructor Documentation

robot_utils::BasicFifthOrderPoseInterpolator::BasicFifthOrderPoseInterpolator ( )
robot_utils::BasicFifthOrderPoseInterpolator::~BasicFifthOrderPoseInterpolator ( )
default

Member Function Documentation

bool robot_utils::BasicFifthOrderPoseInterpolator::abort ( )
bool robot_utils::BasicFifthOrderPoseInterpolator::advance ( double  dt)
const Pose& robot_utils::BasicFifthOrderPoseInterpolator::getCurrentPose ( )
const Twist& robot_utils::BasicFifthOrderPoseInterpolator::getCurrentTwist ( )
bool robot_utils::BasicFifthOrderPoseInterpolator::initialize ( const Pose initialPose,
const Pose finalPose,
double  motionDuration 
)
bool robot_utils::BasicFifthOrderPoseInterpolator::isFinished ( )

Member Data Documentation

Pose robot_utils::BasicFifthOrderPoseInterpolator::currentPose_
protected
Twist robot_utils::BasicFifthOrderPoseInterpolator::currentTwist_
protected
Pose robot_utils::BasicFifthOrderPoseInterpolator::finalPose_
protected
Pose robot_utils::BasicFifthOrderPoseInterpolator::initialPose_
protected
double robot_utils::BasicFifthOrderPoseInterpolator::motionDuration_
protected
bool robot_utils::BasicFifthOrderPoseInterpolator::poseInterpolationIsFinished_
protected
double robot_utils::BasicFifthOrderPoseInterpolator::s_
protected
double robot_utils::BasicFifthOrderPoseInterpolator::sDot_
protected
double robot_utils::BasicFifthOrderPoseInterpolator::t_
protected
Eigen::Vector3d robot_utils::BasicFifthOrderPoseInterpolator::totalRotationDifference_
protected
Position robot_utils::BasicFifthOrderPoseInterpolator::totalTranslationDifference_
protected

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