HEBI C++ API  3.15.0
Public Member Functions | Static Public Member Functions | List of all members
hebi::arm::Goal Class Reference

#include <goal.hpp>

Public Member Functions

const Eigen::VectorXd & times () const
 
const Eigen::MatrixXd & positions () const
 
const Eigen::MatrixXd & velocities () const
 
const Eigen::MatrixXd & accelerations () const
 
const Eigen::MatrixXd & aux () const
 
std::tuple< std::shared_ptr< hebi::trajectory::Trajectory >, Eigen::MatrixXd, Eigen::VectorXd > buildTrajectoryFrom (const Eigen::VectorXd &start_pos, const Eigen::VectorXd *start_vel, const Eigen::VectorXd *start_accel) const
 

Static Public Member Functions

static Goal createFromPosition (const Eigen::VectorXd &positions)
 
static Goal createFromPosition (double time, const Eigen::VectorXd &positions)
 
static Goal createFromWaypoint (const Eigen::VectorXd &positions, const Eigen::VectorXd &velocities, const Eigen::VectorXd &accelerations)
 
static Goal createFromWaypoint (double time, const Eigen::VectorXd &positions, const Eigen::VectorXd &velocities, const Eigen::VectorXd &accelerations)
 
static Goal createFromWaypointWithAux (const Eigen::VectorXd &positions, const Eigen::VectorXd &velocities, const Eigen::VectorXd &accelerations, const Eigen::VectorXd &aux)
 
static Goal createFromWaypointWithAux (double time, const Eigen::VectorXd &positions, const Eigen::VectorXd &velocities, const Eigen::VectorXd &accelerations, const Eigen::VectorXd &aux)
 
static Goal createFromPositions (const Eigen::MatrixXd &positions)
 
static Goal createFromPositions (const Eigen::VectorXd &times, const Eigen::MatrixXd &positions)
 
static Goal createFromWaypoints (const Eigen::MatrixXd &positions, const Eigen::MatrixXd &velocities, const Eigen::MatrixXd &accelerations)
 
static Goal createFromWaypoints (const Eigen::VectorXd &times, const Eigen::MatrixXd &positions, const Eigen::MatrixXd &velocities, const Eigen::MatrixXd &accelerations)
 
static Goal createFromWaypointsWithAux (const Eigen::MatrixXd &positions, const Eigen::MatrixXd &velocities, const Eigen::MatrixXd &accelerations, const Eigen::MatrixXd &aux)
 
static Goal createFromWaypointsWithAux (const Eigen::VectorXd &times, const Eigen::MatrixXd &positions, const Eigen::MatrixXd &velocities, const Eigen::MatrixXd &accelerations, const Eigen::MatrixXd &aux)
 

Member Function Documentation

◆ createFromPosition() [1/2]

static Goal hebi::arm::Goal::createFromPosition ( const Eigen::VectorXd &  positions)
inlinestatic

◆ createFromPosition() [2/2]

static Goal hebi::arm::Goal::createFromPosition ( double  time,
const Eigen::VectorXd &  positions 
)
inlinestatic

◆ createFromWaypoint() [1/2]

static Goal hebi::arm::Goal::createFromWaypoint ( const Eigen::VectorXd &  positions,
const Eigen::VectorXd &  velocities,
const Eigen::VectorXd &  accelerations 
)
inlinestatic

◆ createFromWaypoint() [2/2]

static Goal hebi::arm::Goal::createFromWaypoint ( double  time,
const Eigen::VectorXd &  positions,
const Eigen::VectorXd &  velocities,
const Eigen::VectorXd &  accelerations 
)
inlinestatic

◆ createFromWaypointWithAux() [1/2]

static Goal hebi::arm::Goal::createFromWaypointWithAux ( const Eigen::VectorXd &  positions,
const Eigen::VectorXd &  velocities,
const Eigen::VectorXd &  accelerations,
const Eigen::VectorXd &  aux 
)
inlinestatic

◆ createFromWaypointWithAux() [2/2]

static Goal hebi::arm::Goal::createFromWaypointWithAux ( double  time,
const Eigen::VectorXd &  positions,
const Eigen::VectorXd &  velocities,
const Eigen::VectorXd &  accelerations,
const Eigen::VectorXd &  aux 
)
inlinestatic

◆ createFromPositions() [1/2]

static Goal hebi::arm::Goal::createFromPositions ( const Eigen::MatrixXd &  positions)
inlinestatic

◆ createFromPositions() [2/2]

static Goal hebi::arm::Goal::createFromPositions ( const Eigen::VectorXd &  times,
const Eigen::MatrixXd &  positions 
)
inlinestatic

◆ createFromWaypoints() [1/2]

static Goal hebi::arm::Goal::createFromWaypoints ( const Eigen::MatrixXd &  positions,
const Eigen::MatrixXd &  velocities,
const Eigen::MatrixXd &  accelerations 
)
inlinestatic

◆ createFromWaypoints() [2/2]

static Goal hebi::arm::Goal::createFromWaypoints ( const Eigen::VectorXd &  times,
const Eigen::MatrixXd &  positions,
const Eigen::MatrixXd &  velocities,
const Eigen::MatrixXd &  accelerations 
)
inlinestatic

◆ createFromWaypointsWithAux() [1/2]

static Goal hebi::arm::Goal::createFromWaypointsWithAux ( const Eigen::MatrixXd &  positions,
const Eigen::MatrixXd &  velocities,
const Eigen::MatrixXd &  accelerations,
const Eigen::MatrixXd &  aux 
)
inlinestatic

◆ createFromWaypointsWithAux() [2/2]

static Goal hebi::arm::Goal::createFromWaypointsWithAux ( const Eigen::VectorXd &  times,
const Eigen::MatrixXd &  positions,
const Eigen::MatrixXd &  velocities,
const Eigen::MatrixXd &  accelerations,
const Eigen::MatrixXd &  aux 
)
inlinestatic

◆ times()

const Eigen::VectorXd& hebi::arm::Goal::times ( ) const
inline

◆ positions()

const Eigen::MatrixXd& hebi::arm::Goal::positions ( ) const
inline

◆ velocities()

const Eigen::MatrixXd& hebi::arm::Goal::velocities ( ) const
inline

◆ accelerations()

const Eigen::MatrixXd& hebi::arm::Goal::accelerations ( ) const
inline

◆ aux()

const Eigen::MatrixXd& hebi::arm::Goal::aux ( ) const
inline

◆ buildTrajectoryFrom()

std::tuple<std::shared_ptr<hebi::trajectory::Trajectory>, Eigen::MatrixXd, Eigen::VectorXd> hebi::arm::Goal::buildTrajectoryFrom ( const Eigen::VectorXd &  start_pos,
const Eigen::VectorXd *  start_vel,
const Eigen::VectorXd *  start_accel 
) const
inline
The documentation for this class was generated from the following file: