MotionGenerator< PositionType > Class Template Reference

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

Online generator for trajectory waypoints Given input parameters (typically including the goal pose) and the initial state of the robot, it will compute intermediate PositionType objects at arbitrary points in time. More...

Inheritance diagram for MotionGenerator< PositionType >:

Detailed Description

template<typename PositionType>
class ImFusion::Robotics::MotionGenerator< PositionType >

Online generator for trajectory waypoints Given input parameters (typically including the goal pose) and the initial state of the robot, it will compute intermediate PositionType objects at arbitrary points in time.

It will return a value representing the end of the motion when the generated position reaches the target.

Public Member Functions
	MotionGenerator (std::unique_ptr< MotionGeneratorParametersInterface > params)
	MotionGenerator (const MotionGenerator< PositionType > &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 ()
virtual MotionStep< PositionType >	operator() (const ControlIterationInfo &controlIterationInfo)=0
MotionGeneratorParametersInterface *	parameters ()
template<typename ParametersType>
ParametersType *	typedParameters ()

Protected Member Functions
virtual bool	initImpl ()=0
	Should validate the parameters and perform required initialization (including memory preallocation)

Protected Attributes
std::unique_ptr< const RobotState >	m_initState
std::unique_ptr< MotionGeneratorParametersInterface >	m_parameters
bool	m_inited = false
std::atomic< bool >	m_isStopRequested = false

Member Function Documentation

init()

template<typename PositionType>

bool init ( const RobotState & state )

inlineoverridevirtual

Implements MotionGeneratorBase.

requestStop()

template<typename PositionType>

bool requestStop ( )

inlineoverridevirtual

Request the motion generator to abort the motion, decelerating to zero velocity as fast as possible.

Implements MotionGeneratorBase.

Reimplemented in RuckigCartesianStreamingMotionGenerator.

initImpl()

template<typename PositionType>

virtual bool initImpl ( )

protectedpure virtual

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

Implemented in CartesianInterpolationJointMotionGenerator, CartesianInterpolationMotionGenerator, FlangeMotionGenerator, HoldJointPositionMotionGenerator, JointPositionMotionGenerator, and RuckigCartesianStreamingMotionGenerator.

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

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