Detailed Description

template<typename T>
class drake::trajectories::PiecewisePose< T >

A wrapper class that represents a pose trajectory, whose rotation part is a PiecewiseQuaternionSlerp and the translation part is a PiecewisePolynomial.

Template Parameters

T	The scalar type, which must be one of the default scalars.

#include <drake/common/trajectories/piecewise_pose.h>

Public Member Functions
	PiecewisePose ()
	Constructs an empty piecewise pose trajectory. More...

	PiecewisePose (const PiecewisePolynomial< T > &position_trajectory, const PiecewiseQuaternionSlerp< T > &orientation_trajectory)
	Constructor. More...

	~PiecewisePose () override

std::unique_ptr< Trajectory< T > >	Clone () const override

Eigen::Index	rows () const override

Eigen::Index	cols () const override

math::RigidTransform< T >	GetPose (const T &time) const
	Returns the interpolated pose at `time`. More...

MatrixX< T >	value (const T &t) const override
	Evaluates the trajectory at the given time `t`. More...

Vector6< T >	GetVelocity (const T &time) const
	Returns the interpolated velocity at `time` or zero if `time` is before this trajectory's start time or after its end time. More...

Vector6< T >	GetAcceleration (const T &time) const
	Returns the interpolated acceleration at `time` or zero if `time` is before this trajectory's start time or after its end time. More...

bool	IsApprox (const PiecewisePose< T > &other, double tol) const
	Returns true if the position and orientation trajectories are both within `tol` from the other's. More...

const PiecewisePolynomial< T > &	get_position_trajectory () const
	Returns the position trajectory. More...

const PiecewiseQuaternionSlerp< T > &	get_orientation_trajectory () const
	Returns the orientation trajectory. More...

Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
	PiecewisePose (const PiecewisePose &)=default

PiecewisePose &	operator= (const PiecewisePose &)=default

	PiecewisePose (PiecewisePose &&)=default

PiecewisePose &	operator= (PiecewisePose &&)=default

Public Member Functions inherited from PiecewiseTrajectory< T >
	~PiecewiseTrajectory () override

int	get_number_of_segments () const

T	start_time (int segment_number) const

T	end_time (int segment_number) const

T	duration (int segment_number) const

T	start_time () const override

T	end_time () const override

boolean< T >	is_time_in_range (const T &t) const
	Returns true iff `t >= getStartTime() && t <= getEndTime()`. More...

int	get_segment_index (const T &t) const

const std::vector< T > &	get_segment_times () const

void	segment_number_range_check (int segment_number) const

Public Member Functions inherited from Trajectory< T >
virtual	~Trajectory ()

MatrixX< T >	vector_values (const std::vector< T > &t) const
	If cols()==1, then evaluates the trajectory at each time `t`, and returns the results as a Matrix with the ith column corresponding to the ith time. More...

MatrixX< T >	vector_values (const Eigen::Ref< const VectorX< T >> &t) const
	If cols()==1, then evaluates the trajectory at each time `t`, and returns the results as a Matrix with the ith column corresponding to the ith time. More...

bool	has_derivative () const
	Returns true iff the Trajectory provides and implementation for EvalDerivative() and MakeDerivative(). More...

MatrixX< T >	EvalDerivative (const T &t, int derivative_order=1) const
	Evaluates the derivative of `this` at the given time `t`. More...

std::unique_ptr< Trajectory< T > >	MakeDerivative (int derivative_order=1) const
	Takes the derivative of this Trajectory. More...

Static Public Member Functions
static PiecewisePose< T >	MakeLinear (const std::vector< T > &times, const std::vector< math::RigidTransform< T >> &poses)
	Constructs a PiecewisePose from given `times` and `poses`. More...

static PiecewisePose< T >	MakeCubicLinearWithEndLinearVelocity (const std::vector< T > &times, const std::vector< math::RigidTransform< T >> &poses, const Vector3< T > &start_vel=Vector3< T >::Zero(), const Vector3< T > &end_vel=Vector3< T >::Zero())
	Constructs a PiecewisePose from given `times` and `poses`. More...

Static Public Member Functions inherited from PiecewiseTrajectory< T >
static std::vector< T >	RandomSegmentTimes (int num_segments, std::default_random_engine &generator)

Additional Inherited Members
Static Public Attributes inherited from PiecewiseTrajectory< T >
static constexpr double	kEpsilonTime = std::numeric_limits<double>::epsilon()
	Minimum delta quantity used for comparing time. More...

Protected Member Functions inherited from PiecewiseTrajectory< T >
	PiecewiseTrajectory ()=default

	PiecewiseTrajectory (const std::vector< T > &breaks)
	`breaks` increments must be greater or equal to kEpsilonTime. More...

bool	SegmentTimesEqual (const PiecewiseTrajectory &b, double tol=kEpsilonTime) const

const std::vector< T > &	breaks () const

std::vector< T > &	get_mutable_breaks ()

	PiecewiseTrajectory (const PiecewiseTrajectory &)=default

PiecewiseTrajectory &	operator= (const PiecewiseTrajectory &)=default

	PiecewiseTrajectory (PiecewiseTrajectory &&)=default

PiecewiseTrajectory &	operator= (PiecewiseTrajectory &&)=default

Protected Member Functions inherited from Trajectory< T >
	Trajectory ()=default

	Trajectory (const Trajectory &)=default

Trajectory &	operator= (const Trajectory &)=default

	Trajectory (Trajectory &&)=default

Trajectory &	operator= (Trajectory &&)=default

Constructor & Destructor Documentation

◆ PiecewisePose() [1/4]

PiecewisePose ( const PiecewisePose< T > & )

default

◆ PiecewisePose() [2/4]

PiecewisePose ( PiecewisePose< T > && )

default

◆ PiecewisePose() [3/4]

PiecewisePose ( )

Constructs an empty piecewise pose trajectory.

◆ PiecewisePose() [4/4]

PiecewisePose	(	const PiecewisePolynomial< T > &	position_trajectory,
		const PiecewiseQuaternionSlerp< T > &	orientation_trajectory
	)

Constructor.

Parameters

pos_traj	Position trajectory.
rot_traj	Orientation trajectory.

◆ ~PiecewisePose()

~PiecewisePose ( )

override

Member Function Documentation

◆ Clone()

std::unique_ptr<Trajectory<T> > Clone ( ) const

overridevirtual

Returns: A deep copy of this Trajectory.

Implements Trajectory< T >.

◆ cols()

Eigen::Index cols ( ) const

overridevirtual

Returns: The number of columns in the matrix returned by value().

Implements Trajectory< T >.

◆ get_orientation_trajectory()

const PiecewiseQuaternionSlerp<T>& get_orientation_trajectory ( ) const

Returns the orientation trajectory.

◆ get_position_trajectory()

const PiecewisePolynomial<T>& get_position_trajectory ( ) const

Returns the position trajectory.

◆ GetAcceleration()

Vector6<T> GetAcceleration ( const T & time ) const

Returns the interpolated acceleration at time or zero if time is before this trajectory's start time or after its end time.

◆ GetPose()

math::RigidTransform<T> GetPose ( const T & time ) const

Returns the interpolated pose at time.

◆ GetVelocity()

Vector6<T> GetVelocity ( const T & time ) const

Returns the interpolated velocity at time or zero if time is before this trajectory's start time or after its end time.

◆ IsApprox()

bool IsApprox	(	const PiecewisePose< T > &	other,
		double	tol
	)		const

Returns true if the position and orientation trajectories are both within tol from the other's.

◆ MakeCubicLinearWithEndLinearVelocity()

static PiecewisePose<T> MakeCubicLinearWithEndLinearVelocity	(	const std::vector< T > &	times,
		const std::vector< math::RigidTransform< T >> &	poses,
		const Vector3< T > &	start_vel = `Vector3< T >::Zero()`,
		const Vector3< T > &	end_vel = `Vector3< T >::Zero()`
	)

static

Constructs a PiecewisePose from given times and poses.

A cubic polynomial with given end velocities is used to construct the position part. The rotational part is represented by a piecewise quaterion trajectory. There must be at least two elements in times and poses.

Parameters

times	Breaks used to build the splines.
poses	Knots used to build the splines.
start_vel	Start linear velocity.
end_vel	End linear velocity.

◆ MakeLinear()

static PiecewisePose<T> MakeLinear	(	const std::vector< T > &	times,
		const std::vector< math::RigidTransform< T >> &	poses
	)

static

Constructs a PiecewisePose from given times and poses.

The positions trajectory is constructed as a first-order hold. The orientation is constructed using the quaternion slerp. There must be at least two elements in times and poses.

Parameters

times	Breaks used to build the splines.
poses	Knots used to build the splines.

◆ operator=() [1/2]

PiecewisePose& operator= ( PiecewisePose< T > && )

default

◆ operator=() [2/2]

PiecewisePose& operator= ( const PiecewisePose< T > & )

default

◆ rows()

Eigen::Index rows ( ) const

overridevirtual

Returns: The number of rows in the matrix returned by value().

Implements Trajectory< T >.

◆ value()

MatrixX<T> value ( const T & t ) const

overridevirtual

Evaluates the trajectory at the given time t.

Parameters

t	The time at which to evaluate the trajectory.

Returns: The matrix of evaluated values.

Implements Trajectory< T >.

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

drake/common/trajectories/piecewise_pose.h

Detailed Description

template<typename T> class drake::trajectories::PiecewisePose< T >

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ PiecewisePose() [1/4]

◆ PiecewisePose() [2/4]

◆ PiecewisePose() [3/4]

◆ PiecewisePose() [4/4]

◆ ~PiecewisePose()

Member Function Documentation

◆ Clone()

◆ cols()

◆ get_orientation_trajectory()

◆ get_position_trajectory()

◆ GetAcceleration()

◆ GetPose()

◆ GetVelocity()

◆ IsApprox()

◆ MakeCubicLinearWithEndLinearVelocity()

◆ MakeLinear()

◆ operator=() [1/2]

◆ operator=() [2/2]

◆ rows()

◆ value()

template<typename T>
class drake::trajectories::PiecewisePose< T >