movex::Waypoint Struct Reference

#include <waypoint.hpp>

Public Types
enum	ReferenceType { ReferenceType::Absolute, ReferenceType::Relative }
using	Affine = affx::Affine
using	Vector6d = Eigen::Matrix< double, 6, 1 >
using	Vector7d = Eigen::Matrix< double, 7, 1 >

Public Member Functions
	Waypoint ()
	Waypoint (const Affine &affine, ReferenceType reference_type=ReferenceType::Absolute)
	Waypoint (const Affine &affine, double elbow, ReferenceType reference_type=ReferenceType::Absolute)
	Waypoint (bool zero_velocity)
	Waypoint (double minimum_time)
	Waypoint (const Affine &affine, ReferenceType reference_type, double velocity_rel)
	Waypoint (const Affine &affine, double elbow, ReferenceType reference_type, double velocity_rel)
	Waypoint (const Affine &affine, std::optional< double > elbow, double blend_max_distance)
Affine	getTargetAffine (const Affine &frame, const Affine &old_affine) const
Vector7d	getTargetVector (const Affine &old_affine, double old_elbow) const
Vector7d	getTargetVector (const Affine &frame, const Affine &old_affine, double old_elbow) const

Public Attributes
Affine	affine
std::optional< double >	elbow
ReferenceType	reference_type
double	velocity_rel {1.0}
	Dynamic Waypoint: Relative velocity factor. More...
bool	max_dynamics {false}
	Dynamic Waypoint: Use maximal dynamics of the robot independent on other parameters. More...
bool	zero_velocity {false}
	Zero velocity Waypoint: Stop to zero velocity. More...
std::optional< double >	minimum_time
	Dynamic Waypoint: Minimum time to get to next waypoint. More...
double	blend_max_distance {0.0}
	Path Waypoint: Maximum distance for blending. More...

Member Typedef Documentation

Affine

using movex::Waypoint::Affine = affx::Affine

Vector6d

using movex::Waypoint::Vector6d = Eigen::Matrix<double, 6, 1>

Vector7d

using movex::Waypoint::Vector7d = Eigen::Matrix<double, 7, 1>

Member Enumeration Documentation

ReferenceType

enum movex::Waypoint::ReferenceType

strong

Enumerator
Absolute
Relative

Constructor & Destructor Documentation

Waypoint() [1/8]

movex::Waypoint::Waypoint ( )

inlineexplicit

Waypoint() [2/8]

movex::Waypoint::Waypoint ( const Affine &  affine, ReferenceType  reference_type = ReferenceType::Absolute  )

inlineexplicit

Waypoint() [3/8]

movex::Waypoint::Waypoint ( const Affine &  affine, double  elbow, ReferenceType  reference_type = ReferenceType::Absolute  )

inlineexplicit

Waypoint() [4/8]

movex::Waypoint::Waypoint ( bool  zero_velocity )

inlineexplicit

Waypoint() [5/8]

movex::Waypoint::Waypoint ( double  minimum_time )

inlineexplicit

Waypoint() [6/8]

movex::Waypoint::Waypoint ( const Affine &  affine, ReferenceType  reference_type, double  velocity_rel  )

inlineexplicit

Waypoint() [7/8]

movex::Waypoint::Waypoint ( const Affine &  affine, double  elbow, ReferenceType  reference_type, double  velocity_rel  )

inlineexplicit

Waypoint() [8/8]

movex::Waypoint::Waypoint ( const Affine &  affine, std::optional< double >  elbow, double  blend_max_distance  )

inlineexplicit

Member Function Documentation

getTargetAffine()

Affine movex::Waypoint::getTargetAffine ( const Affine &  frame, const Affine &  old_affine  ) const

inline

getTargetVector() [1/2]

Vector7d movex::Waypoint::getTargetVector ( const Affine &  frame, const Affine &  old_affine, double  old_elbow  ) const

inline

getTargetVector() [2/2]

Vector7d movex::Waypoint::getTargetVector ( const Affine &  old_affine, double  old_elbow  ) const

inline

Member Data Documentation

affine

Affine movex::Waypoint::affine

blend_max_distance

double movex::Waypoint::blend_max_distance {0.0}

Path Waypoint: Maximum distance for blending.

elbow

std::optional<double> movex::Waypoint::elbow

max_dynamics

bool movex::Waypoint::max_dynamics {false}

Dynamic Waypoint: Use maximal dynamics of the robot independent on other parameters.

minimum_time

std::optional<double> movex::Waypoint::minimum_time

Dynamic Waypoint: Minimum time to get to next waypoint.

reference_type

ReferenceType movex::Waypoint::reference_type

velocity_rel

double movex::Waypoint::velocity_rel {1.0}

Dynamic Waypoint: Relative velocity factor.

zero_velocity

bool movex::Waypoint::zero_velocity {false}

Zero velocity Waypoint: Stop to zero velocity.

---

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

• /home/runner/work/frankx/frankx/include/movex/waypoint.hpp