[interface] Encapsulate a time-parameterized trajectories of robot configurations. If not specified, method is not multi-thread safe. [詳細]
#include <trajectory.h>
構成 | |
class | Point |
Public 型 | |
typedef Point TPOINT | RAVE_DEPRECATED |
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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 |
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InterfaceBase (InterfaceType type, EnvironmentBasePtr penv) | |
virtual | ~InterfaceBase () |
InterfaceType | GetInterfaceType () const |
const std::string & | GetXMLId () const |
const std::string & | GetPluginName () const |
EnvironmentBasePtr | GetEnv () const |
const READERSMAP & | GetReadableInterfaces () 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 |
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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 | |
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typedef boost::function< bool(std::ostream &, std::istream &)> | InterfaceCommandFn |
The function to be executed for every command. | |
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std::string | __description |
[interface] Encapsulate a time-parameterized trajectories of robot configurations. If not specified, method is not multi-thread safe.
trajectory.h の 30 行で定義されています。
typedef Point TPOINT OpenRAVE::TrajectoryBase::RAVE_DEPRECATED |
trajectory.h の 166 行で定義されています。
OpenRAVE::TrajectoryBase::TrajectoryBase | ( | EnvironmentBasePtr | penv | ) |
trajectory.cpp の 24 行で定義されています。
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trajectory.h の 34 行で定義されています。
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trajectory.cpp の 157 行で定義されています。
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trajectory.cpp の 208 行で定義されています。
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trajectory.h の 206 行で定義されています。
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Clone the contents of an interface to the current interface.
preference | the interface whose information to clone |
cloningoptions | mask of CloningOptions |
openrave_exception | if command doesn't succeed |
OpenRAVE::InterfaceBaseを再定義しています。
trajectory.cpp の 75 行で定義されています。
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initialize the trajectory
trajectory.cpp の 52 行で定義されています。
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trajectory.h の 175 行で定義されています。
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return the duration of the trajectory in seconds
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return the static interface type this class points to (used for safe casting)
trajectory.h の 38 行で定義されています。
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trajectory.h の 198 行で定義されています。
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return the number of waypoints
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trajectory.cpp の 123 行で定義されています。
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trajectory.h の 180 行で定義されています。
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returns one waypoint
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.h の 108 行で定義されています。
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inline |
returns one waypoint
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.h の 123 行で定義されています。
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pure virtual |
return a set of waypoints in the range [startindex,endindex)
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 |
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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.
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.cpp の 94 行で定義されています。
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pure virtual |
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pure virtual |
Sets/inserts new waypoints in the same configuration specification as the trajectory.
index | The index where to start modifying the trajectory. |
data | The data to insert, can represent multiple consecutive waypoints. data.size()/GetConfigurationSpecification().GetDOF() waypoints are added. |
bOverwrite | If 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. |
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pure virtual |
Sets/inserts new waypoints in a user-given configuration specification.
index | The index where to start modifying the trajectory. |
data | The data to insert, can represent multiple consecutive waypoints. data.size()/GetConfigurationSpecification().GetDOF() waypoints are added. |
spec | the 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. |
bOverwrite | If 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. |
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trajectory.h の 192 行で定義されています。
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removes a number of waypoints starting at the specified index
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inlinevirtual |
trajectory.h の 215 行で定義されています。
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samples a data point on the trajectory at a particular time
data[out] | the sampled point |
time[in] | the time to sample |
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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.
data[out] | the sampled point |
time[in] | the time to sample |
spec[in] | the specification format to return the data in |
trajectory.cpp の 85 行で定義されています。
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trajectory.cpp の 107 行で定義されています。
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output the trajectory in XML format
trajectory.cpp の 28 行で定義されています。
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trajectory.h の 236 行で定義されています。
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