JointPositionMotionGenerator Class Reference

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

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

Inheritance diagram for JointPositionMotionGenerator:

Detailed Description

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

Classes
struct	Parameters

Public Member Functions
	JointPositionMotionGenerator (Parameters &&params)
	JointPositionMotionGenerator (std::unique_ptr< MotionGeneratorParametersInterface > params)
	JointPositionMotionGenerator (const JointPositionMotionGenerator &other)
MotionStep< JointPosition >	operator() (const ControlIterationInfo &controlIterationInfo) override
Public Member Functions inherited from MotionGenerator< JointPosition >
	MotionGenerator (std::unique_ptr< MotionGeneratorParametersInterface > params)
	MotionGenerator (const MotionGenerator< JointPosition > &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 ()

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< JointPosition >
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< JointPosition > operator() ( const ControlIterationInfo & controlIterationInfo )

overridevirtual

Implements MotionGenerator< JointPosition >.

initImpl()

bool initImpl ( )

overrideprotectedvirtual

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

Implements MotionGenerator< JointPosition >.

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

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