openrave.org

 全て クラス ネームスペース ファイル 関数 変数 型定義 列挙型 列挙型の値 フレンド マクロ定義 グループ ページ
構成 | Public 型 | Public メソッド | Static Public メソッド | Static Public 変数 | Protected メソッド | すべてのメンバ一覧
クラス OpenRAVE::TrajectoryBaseabstract

[interface] Encapsulate a time-parameterized trajectories of robot configurations. If not specified, method is not multi-thread safe. [詳細]

#include <trajectory.h>

OpenRAVE::TrajectoryBaseに対する継承グラフ
Inheritance graph
[凡例]
OpenRAVE::TrajectoryBaseのコラボレーション図
Collaboration graph
[凡例]

構成

class  Point
 

Public 型

typedef Point TPOINT RAVE_DEPRECATED
 
- Public 型 inherited from OpenRAVE::InterfaceBase
typedef std::map< std::string,
XMLReadablePtr,
CaseInsensitiveCompare
READERSMAP
 

Public メソッド

 TrajectoryBase (EnvironmentBasePtr penv)
 
virtual ~TrajectoryBase ()
 
virtual void Init (const ConfigurationSpecification &spec)=0
 
virtual void Insert (size_t index, const std::vector< dReal > &data, bool bOverwrite=false)=0
 Sets/inserts new waypoints in the same configuration specification as the trajectory.
 
virtual void Insert (size_t index, const std::vector< dReal > &data, const ConfigurationSpecification &spec, bool bOverwrite=false)=0
 Sets/inserts new waypoints in a user-given configuration specification.
 
virtual void Remove (size_t startindex, size_t endindex)=0
 removes a number of waypoints starting at the specified index
 
virtual void Sample (std::vector< dReal > &data, dReal time) const =0
 samples a data point on the trajectory at a particular time
 
virtual void Sample (std::vector< dReal > &data, dReal time, const ConfigurationSpecification &spec) const
 samples a data point on the trajectory at a particular time and returns data for the group specified.
 
virtual const
ConfigurationSpecification
GetConfigurationSpecification () const =0
 
virtual size_t GetNumWaypoints () const =0
 return the number of waypoints
 
virtual void GetWaypoints (size_t startindex, size_t endindex, std::vector< dReal > &data) const =0
 return a set of waypoints in the range [startindex,endindex)
 
virtual void GetWaypoints (size_t startindex, size_t endindex, std::vector< dReal > &data, const ConfigurationSpecification &spec) const
 return a set of waypoints in the range [startindex,endindex) in a different configuration specification.
 
void GetWaypoint (int index, std::vector< dReal > &data) const
 returns one waypoint
 
void GetWaypoint (int index, std::vector< dReal > &data, const ConfigurationSpecification &spec) const
 returns one waypoint
 
virtual dReal GetDuration () const =0
 return the duration of the trajectory in seconds
 
virtual void serialize (std::ostream &O, int options=0) const
 output the trajectory in XML format
 
virtual InterfaceBasePtr deserialize (std::istream &I)
 initialize the trajectory
 
virtual void Clone (InterfaceBaseConstPtr preference, int cloningoptions)
 Clone the contents of an interface to the current interface.
 
virtual bool SampleTrajectory (dReal time, Point &tp) const RAVE_DEPRECATED
 
virtual const std::vector
< Point > & 
GetPoints () const RAVE_DEPRECATED
 
int GetDOF () const RAVE_DEPRECATED
 
virtual dReal GetTotalDuration () const RAVE_DEPRECATED
 
virtual bool Write (std::ostream &O, int options) const RAVE_DEPRECATED
 
virtual bool Read (std::istream &I, RobotBaseConstPtr) RAVE_DEPRECATED
 
virtual int GetInterpMethod () const RAVE_DEPRECATED
 
virtual bool CalcTrajTiming (RobotBasePtr probot, int interp, bool autocalc, bool activedof, dReal fmaxvelmult=1) RAVE_DEPRECATED
 
virtual void Clear () RAVE_DEPRECATED
 
virtual void AddPoint (const Point &p) RAVE_DEPRECATED
 
virtual void Reset (int dof) RAVE_DEPRECATED
 
- Public メソッド inherited from OpenRAVE::InterfaceBase
 InterfaceBase (InterfaceType type, EnvironmentBasePtr penv)
 
virtual ~InterfaceBase ()
 
InterfaceType GetInterfaceType () const
 
const std::string & GetXMLId () const
 
const std::string & GetPluginName () const
 
EnvironmentBasePtr GetEnv () const
 
const READERSMAPGetReadableInterfaces () const
 Returns the raw map reference, this is not multithread safe and the GetInterfaceMutex should be locked before using.
 
virtual XMLReadablePtr GetReadableInterface (const std::string &xmltag) const
 Returns the readable interface. [multi-thread safe]
 
virtual XMLReadablePtr SetReadableInterface (const std::string &xmltag, XMLReadablePtr readable)
 Set a new readable interface and return the previously set interface if it exists. [multi-thread safe]
 
virtual const std::string & GetDescription () const
 Documentation of the interface in reStructuredText format. See Documenting Interfaces. [multi-thread safe]
 
virtual void SetDescription (const std::string &description)
 sets a description [multi-thread safe]
 
virtual void SetUserData (const std::string &key, UserDataPtr data) const
 set user data for a specific key. [multi-thread safe]
 
virtual UserDataPtr GetUserData (const std::string &key=std::string()) const
 return the user custom data [multi-thread safe]
 
virtual bool RemoveUserData (const std::string &key) const
 removes a user data pointer. if user data pointer does not exist, then return 0, otherwise 1. [multi-thread safe]
 
virtual void SetUserData (UserDataPtr data) RAVE_DEPRECATED
 
virtual const std::string & GetURI () const
 the URI used to load the interface (sometimes this is not possible if the definition lies inside an environment file). [multi-thread safe]
 
virtual const std::string & GetXMLFilename () const
 
virtual bool SendCommand (std::ostream &os, std::istream &is)
 Used to send special commands to the interface and receive output.
 
virtual void Serialize (BaseXMLWriterPtr writer, int options=0) const
 serializes the interface
 

Static Public メソッド

static InterfaceType GetInterfaceTypeStatic ()
 return the static interface type this class points to (used for safe casting)
 

Static Public 変数

static const int TO_OneLine RAVE_DEPRECATED = 1
 
static const int TO_NoHeader RAVE_DEPRECATED = 2
 
static const int
TO_IncludeTimestamps 
RAVE_DEPRECATED = 4
 
static const int
TO_IncludeBaseTransformation 
RAVE_DEPRECATED = 8
 
static const int
TO_IncludeVelocities 
RAVE_DEPRECATED = 0x10
 
static const int TO_IncludeTorques RAVE_DEPRECATED = 0x20
 
static const int
TO_InterpolationMask 
RAVE_DEPRECATED = 0x1c0
 
static const int NONE RAVE_DEPRECATED = 0
 
static const int LINEAR RAVE_DEPRECATED = 1
 
static const int LINEAR_BLEND RAVE_DEPRECATED = 2
 
static const int CUBIC RAVE_DEPRECATED = 3
 
static const int QUINTIC RAVE_DEPRECATED = 4
 
static const int NUM_METHODS RAVE_DEPRECATED = 5
 

Protected メソッド

TrajectoryBasePtr shared_trajectory ()
 
TrajectoryBaseConstPtr shared_trajectory_const () const
 
- Protected メソッド inherited from OpenRAVE::InterfaceBase
virtual void RegisterCommand (const std::string &cmdname, InterfaceCommandFn fncmd, const std::string &strhelp)
 Registers a command and its help string. [multi-thread safe]
 
virtual void UnregisterCommand (const std::string &cmdname)
 Unregisters the command. [multi-thread safe]
 
virtual boost::shared_mutex & GetInterfaceMutex () const
 

Additional Inherited Members

- Protected 型 inherited from OpenRAVE::InterfaceBase
typedef boost::function< bool(std::ostream
&, std::istream &)> 
InterfaceCommandFn
 The function to be executed for every command.
 
- Protected 変数 inherited from OpenRAVE::InterfaceBase
std::string __description
 

説明

[interface] Encapsulate a time-parameterized trajectories of robot configurations. If not specified, method is not multi-thread safe.

trajectory.h30 行で定義されています。

型定義

非推奨:
(11/10/04)

trajectory.h166 行で定義されています。

コンストラクタとデストラクタ

OpenRAVE::TrajectoryBase::TrajectoryBase ( EnvironmentBasePtr  penv)

trajectory.cpp24 行で定義されています。

virtual OpenRAVE::TrajectoryBase::~TrajectoryBase ( )
inlinevirtual

trajectory.h34 行で定義されています。

関数

void OpenRAVE::TrajectoryBase::AddPoint ( const Point p)
virtual
非推奨:
(11/10/04)

trajectory.cpp157 行で定義されています。

bool OpenRAVE::TrajectoryBase::CalcTrajTiming ( RobotBasePtr  probot,
int  interp,
bool  autocalc,
bool  activedof,
dReal  fmaxvelmult = 1 
)
virtual
virtual void OpenRAVE::TrajectoryBase::Clear ( )
inlinevirtual
非推奨:
(11/10/04)

trajectory.h206 行で定義されています。

void OpenRAVE::TrajectoryBase::Clone ( InterfaceBaseConstPtr  preference,
int  cloningoptions 
)
virtual

Clone the contents of an interface to the current interface.

引数
preferencethe interface whose information to clone
cloningoptionsmask of CloningOptions
例外
openrave_exceptionif command doesn't succeed

OpenRAVE::InterfaceBaseを再定義しています。

trajectory.cpp75 行で定義されています。

InterfaceBasePtr OpenRAVE::TrajectoryBase::deserialize ( std::istream &  I)
virtual

initialize the trajectory

trajectory.cpp52 行で定義されています。

virtual const ConfigurationSpecification& OpenRAVE::TrajectoryBase::GetConfigurationSpecification ( ) const
pure virtual
int OpenRAVE::TrajectoryBase::GetDOF ( ) const
inline
非推奨:
(11/10/04) use GetConfigurationSpecification().GetDOF()

trajectory.h175 行で定義されています。

virtual dReal OpenRAVE::TrajectoryBase::GetDuration ( ) const
pure virtual

return the duration of the trajectory in seconds

static InterfaceType OpenRAVE::TrajectoryBase::GetInterfaceTypeStatic ( )
inlinestatic

return the static interface type this class points to (used for safe casting)

trajectory.h38 行で定義されています。

virtual int OpenRAVE::TrajectoryBase::GetInterpMethod ( ) const
inlinevirtual
非推奨:
(11/10/04)

trajectory.h198 行で定義されています。

virtual size_t OpenRAVE::TrajectoryBase::GetNumWaypoints ( ) const
pure virtual

return the number of waypoints

const std::vector< TrajectoryBase::Point > & OpenRAVE::TrajectoryBase::GetPoints ( ) const
virtual
非推奨:
(11/10/04) use GetWaypoints

trajectory.cpp123 行で定義されています。

virtual dReal OpenRAVE::TrajectoryBase::GetTotalDuration ( ) const
inlinevirtual
非推奨:
(11/10/04) see GetDuration()

trajectory.h180 行で定義されています。

void OpenRAVE::TrajectoryBase::GetWaypoint ( int  index,
std::vector< dReal > &  data 
) const
inline

returns one waypoint

引数
index[in]index of the waypoint. If < 0, then counting starts from the last waypoint. For example GetWaypoints(-1,data) returns the last waypoint.
data[out]the data of the waypoint

trajectory.h108 行で定義されています。

void OpenRAVE::TrajectoryBase::GetWaypoint ( int  index,
std::vector< dReal > &  data,
const ConfigurationSpecification spec 
) const
inline

returns one waypoint

引数
index[in]index of the waypoint. If < 0, then counting starts from the last waypoint. For example GetWaypoints(-1,data) returns the last waypoint.
data[out]the data of the waypoint

trajectory.h123 行で定義されています。

virtual void OpenRAVE::TrajectoryBase::GetWaypoints ( size_t  startindex,
size_t  endindex,
std::vector< dReal > &  data 
) const
pure virtual

return a set of waypoints in the range [startindex,endindex)

引数
startindex[in]the start index of the waypoint (included)
endindex[in]the end index of the waypoint (not included)
data[out]the data of the waypoint
void OpenRAVE::TrajectoryBase::GetWaypoints ( size_t  startindex,
size_t  endindex,
std::vector< dReal > &  data,
const ConfigurationSpecification spec 
) const
virtual

return a set of waypoints in the range [startindex,endindex) in a different configuration specification.

The default implementation is very slow, so trajectory developers should really override it.

引数
startindex[in]the start index of the waypoint (included)
endindex[in]the end index of the waypoint (not included)
spec[in]the specification to return the data in
data[out]the data of the waypoint

trajectory.cpp94 行で定義されています。

virtual void OpenRAVE::TrajectoryBase::Init ( const ConfigurationSpecification spec)
pure virtual
virtual void OpenRAVE::TrajectoryBase::Insert ( size_t  index,
const std::vector< dReal > &  data,
bool  bOverwrite = false 
)
pure virtual

Sets/inserts new waypoints in the same configuration specification as the trajectory.

引数
indexThe index where to start modifying the trajectory.
dataThe data to insert, can represent multiple consecutive waypoints. data.size()/GetConfigurationSpecification().GetDOF() waypoints are added.
bOverwriteIf true, will overwrite the waypoints starting at index, and will insert new waypoints only if end of trajectory is reached. If false, will insert the points before index: a 0 index inserts the new data in the beginning, a GetNumWaypoints() index inserts the new data at the end.
virtual void OpenRAVE::TrajectoryBase::Insert ( size_t  index,
const std::vector< dReal > &  data,
const ConfigurationSpecification spec,
bool  bOverwrite = false 
)
pure virtual

Sets/inserts new waypoints in a user-given configuration specification.

引数
indexThe index where to start modifying the trajectory.
dataThe data to insert, can represent multiple consecutive waypoints. data.size()/GetConfigurationSpecification().GetDOF() waypoints are added.
specthe specification in which the input data come in. Depending on what data is offered, some values of this trajectory's specification might not be initialized.
bOverwriteIf true, will overwrite the waypoints starting at index, and will insert new waypoints only if end of trajectory is reached; if the input spec does not overwrite all the data of the trjectory spec, then the original trajectory data will not be overwritten. If false, will insert the points before index: a 0 index inserts the new data in the beginning, a GetNumWaypoints() index inserts the new data at the end.
virtual bool OpenRAVE::TrajectoryBase::Read ( std::istream &  I,
RobotBaseConstPtr   
)
inlinevirtual
非推奨:
(11/10/04) see deserialize

trajectory.h192 行で定義されています。

virtual void OpenRAVE::TrajectoryBase::Remove ( size_t  startindex,
size_t  endindex 
)
pure virtual

removes a number of waypoints starting at the specified index

virtual void OpenRAVE::TrajectoryBase::Reset ( int  dof)
inlinevirtual
非推奨:
(11/10/04)

trajectory.h215 行で定義されています。

virtual void OpenRAVE::TrajectoryBase::Sample ( std::vector< dReal > &  data,
dReal  time 
) const
pure virtual

samples a data point on the trajectory at a particular time

引数
data[out]the sampled point
time[in]the time to sample
void OpenRAVE::TrajectoryBase::Sample ( std::vector< dReal > &  data,
dReal  time,
const ConfigurationSpecification spec 
) const
virtual

samples a data point on the trajectory at a particular time and returns data for the group specified.

The default implementation is slow, so interface developers should override it.

引数
data[out]the sampled point
time[in]the time to sample
spec[in]the specification format to return the data in

trajectory.cpp85 行で定義されています。

bool OpenRAVE::TrajectoryBase::SampleTrajectory ( dReal  time,
TrajectoryBase::Point tp 
) const
virtual
非推奨:
(11/10/04) see Sample

trajectory.cpp107 行で定義されています。

void OpenRAVE::TrajectoryBase::serialize ( std::ostream &  O,
int  options = 0 
) const
virtual

output the trajectory in XML format

trajectory.cpp28 行で定義されています。

TrajectoryBasePtr OpenRAVE::TrajectoryBase::shared_trajectory ( )
inlineprotected

trajectory.h236 行で定義されています。

TrajectoryBaseConstPtr OpenRAVE::TrajectoryBase::shared_trajectory_const ( ) const
inlineprotected

trajectory.h239 行で定義されています。

virtual bool OpenRAVE::TrajectoryBase::Write ( std::ostream &  O,
int  options 
) const
inlinevirtual
非推奨:
(11/10/04) see serialize

trajectory.h186 行で定義されています。

変数

const int TO_OneLine OpenRAVE::TrajectoryBase::RAVE_DEPRECATED = 1
static
非推奨:
(11/10/04)

trajectory.h221 行で定義されています。

const int TO_NoHeader OpenRAVE::TrajectoryBase::RAVE_DEPRECATED = 2
static

trajectory.h222 行で定義されています。

const int TO_IncludeTimestamps OpenRAVE::TrajectoryBase::RAVE_DEPRECATED = 4
static

trajectory.h223 行で定義されています。

const int TO_IncludeBaseTransformation OpenRAVE::TrajectoryBase::RAVE_DEPRECATED = 8
static

trajectory.h224 行で定義されています。

const int TO_IncludeVelocities OpenRAVE::TrajectoryBase::RAVE_DEPRECATED = 0x10
static

trajectory.h225 行で定義されています。

const int TO_IncludeTorques OpenRAVE::TrajectoryBase::RAVE_DEPRECATED = 0x20
static

trajectory.h226 行で定義されています。

const int TO_InterpolationMask OpenRAVE::TrajectoryBase::RAVE_DEPRECATED = 0x1c0
static

trajectory.h227 行で定義されています。

const int NONE OpenRAVE::TrajectoryBase::RAVE_DEPRECATED = 0
static

trajectory.h228 行で定義されています。

const int LINEAR OpenRAVE::TrajectoryBase::RAVE_DEPRECATED = 1
static

trajectory.h229 行で定義されています。

const int LINEAR_BLEND OpenRAVE::TrajectoryBase::RAVE_DEPRECATED = 2
static

trajectory.h230 行で定義されています。

const int CUBIC OpenRAVE::TrajectoryBase::RAVE_DEPRECATED = 3
static

trajectory.h231 行で定義されています。

const int QUINTIC OpenRAVE::TrajectoryBase::RAVE_DEPRECATED = 4
static

trajectory.h232 行で定義されています。

const int NUM_METHODS OpenRAVE::TrajectoryBase::RAVE_DEPRECATED = 5
static

trajectory.h233 行で定義されています。


このクラスの説明は次のファイルから生成されました: