CartesianInterpolationMotionGenerator Class Reference

#include <RoboticsPlugin/Include/ImFusion/Robotics/Control/GenericMotionGenerators.h>

Interpolates from the current to a target Cartesian position with a trapezoidal speed profile. More...

Inheritance diagram for CartesianInterpolationMotionGenerator:

Detailed Description

Interpolates from the current to a target Cartesian position with a trapezoidal speed profile.

Classes
struct	Parameters

Public Member Functions
	CartesianInterpolationMotionGenerator (Parameters &&params)
	CartesianInterpolationMotionGenerator (std::unique_ptr< MotionGeneratorParametersInterface > params)
	CartesianInterpolationMotionGenerator (const CartesianInterpolationMotionGenerator &other)
MotionStep< isom3 >	operator() (const ControlIterationInfo &controlIterationInfo) override
Public Member Functions inherited from MotionGenerator< isom3 >
	MotionGenerator (std::unique_ptr< MotionGeneratorParametersInterface > params)
	MotionGenerator (const MotionGenerator< isom3 > &other)
bool	init (const RobotState &state) override
bool	requestStop () override
	Request the motion generator to abort the motion, decelerating to zero velocity as fast as possible.
virtual bool	canStart ()
MotionGeneratorParametersInterface *	parameters ()
ParametersType *	typedParameters ()

Static Public Member Functions
static double	estimatedDuration (double targetDisplacement, double vel, double acc)
static double	velocityToAchieveDuration (double targetDisplacement, double targetDurationSec, double acc)

Protected Member Functions
bool	initImpl () override
	Should validate the parameters and perform required initialization (including memory preallocation)

Additional Inherited Members
Protected Attributes inherited from MotionGenerator< isom3 >
std::unique_ptr< const RobotState >	m_initState
std::unique_ptr< MotionGeneratorParametersInterface >	m_parameters
bool	m_inited
std::atomic< bool >	m_isStopRequested

Member Function Documentation

operator()()

MotionStep< isom3 > operator() ( const ControlIterationInfo & controlIterationInfo )

overridevirtual

Implements MotionGenerator< isom3 >.

initImpl()

bool initImpl ( )

overrideprotectedvirtual

Should validate the parameters and perform required initialization (including memory preallocation)

Implements MotionGenerator< isom3 >.

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

• RoboticsPlugin/Include/ImFusion/Robotics/Control/GenericMotionGenerators.h