#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 Eigen::VectorXd vel_limits=nullptr, const Eigen::VectorXd accel_limits=nullptr) 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)

static Goal	createFromWaypoint (double time, const Eigen::VectorXd &positions, const Eigen::VectorXd &velocities)

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	createFromPositionWithAux (const Eigen::VectorXd &positions, const Eigen::VectorXd &aux)

static Goal	createFromPositionWithAux (double time, const Eigen::VectorXd &positions, const Eigen::VectorXd &aux)

static Goal	createFromWaypointWithAux (const Eigen::VectorXd &positions, const Eigen::VectorXd &velocities, const Eigen::VectorXd &aux)

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

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)

static Goal	createFromWaypoints (const Eigen::VectorXd &times, const Eigen::MatrixXd &positions, const Eigen::MatrixXd &velocities)

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	createFromPositionsWithAux (const Eigen::MatrixXd &positions, const Eigen::MatrixXd &aux)

static Goal	createFromPositionsWithAux (const Eigen::VectorXd &times, const Eigen::MatrixXd &positions, const Eigen::MatrixXd &aux)

static Goal	createFromWaypointsWithAux (const Eigen::MatrixXd &positions, const Eigen::MatrixXd &velocities, const Eigen::MatrixXd &aux)

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

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() [1/4]

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

inlinestatic

◆ createFromWaypoint() [2/4]

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

inlinestatic

◆ createFromWaypoint() [3/4]

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

inlinestatic

◆ createFromWaypoint() [4/4]

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

inlinestatic

◆ createFromPositionWithAux() [1/2]

static Goal hebi::arm::Goal::createFromPositionWithAux	(	const Eigen::VectorXd &	positions,
		const Eigen::VectorXd &	aux
	)

inlinestatic

◆ createFromPositionWithAux() [2/2]

static Goal hebi::arm::Goal::createFromPositionWithAux	(	double	time,
		const Eigen::VectorXd &	positions,
		const Eigen::VectorXd &	aux
	)

inlinestatic

◆ createFromWaypointWithAux() [1/4]

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

inlinestatic

◆ createFromWaypointWithAux() [2/4]

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

inlinestatic

◆ createFromWaypointWithAux() [3/4]

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

inlinestatic

◆ createFromWaypointWithAux() [4/4]

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() [1/4]

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

inlinestatic

◆ createFromWaypoints() [2/4]

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

inlinestatic

◆ createFromWaypoints() [3/4]

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

inlinestatic

◆ createFromWaypoints() [4/4]

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

inlinestatic

◆ createFromPositionsWithAux() [1/2]

static Goal hebi::arm::Goal::createFromPositionsWithAux	(	const Eigen::MatrixXd &	positions,
		const Eigen::MatrixXd &	aux
	)

inlinestatic

◆ createFromPositionsWithAux() [2/2]

static Goal hebi::arm::Goal::createFromPositionsWithAux	(	const Eigen::VectorXd &	times,
		const Eigen::MatrixXd &	positions,
		const Eigen::MatrixXd &	aux
	)

inlinestatic

◆ createFromWaypointsWithAux() [1/4]

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

inlinestatic

◆ createFromWaypointsWithAux() [2/4]

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

inlinestatic

◆ createFromWaypointsWithAux() [3/4]

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

inlinestatic

◆ createFromWaypointsWithAux() [4/4]

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 Eigen::VectorXd *	vel_limits = `nullptr`,
		const Eigen::VectorXd *	accel_limits = `nullptr`
	)		const

inline

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

goal.hpp

Public Member Functions

Static Public Member Functions

Member Function Documentation

◆ createFromPosition() [1/2]

◆ createFromPosition() [2/2]

◆ createFromWaypoint() [1/4]

◆ createFromWaypoint() [2/4]

◆ createFromWaypoint() [3/4]

◆ createFromWaypoint() [4/4]

◆ createFromPositionWithAux() [1/2]

◆ createFromPositionWithAux() [2/2]

◆ createFromWaypointWithAux() [1/4]

◆ createFromWaypointWithAux() [2/4]

◆ createFromWaypointWithAux() [3/4]

◆ createFromWaypointWithAux() [4/4]

◆ createFromPositions() [1/2]

◆ createFromPositions() [2/2]

◆ createFromWaypoints() [1/4]

◆ createFromWaypoints() [2/4]

◆ createFromWaypoints() [3/4]

◆ createFromWaypoints() [4/4]

◆ createFromPositionsWithAux() [1/2]

◆ createFromPositionsWithAux() [2/2]

◆ createFromWaypointsWithAux() [1/4]

◆ createFromWaypointsWithAux() [2/4]

◆ createFromWaypointsWithAux() [3/4]

◆ createFromWaypointsWithAux() [4/4]

◆ times()

◆ positions()

◆ velocities()

◆ accelerations()

◆ aux()

◆ buildTrajectoryFrom()