Homepage Demos Overview Downloads Tutorials Reference
Credits

trajectory.h File Reference


Detailed Description

Header file for trajectory generation class.

Definition in file trajectory.h.

#include <sstream>
#include <map>
#include "quaternion.h"
#include "robot.h"

Include dependency graph for trajectory.h:

Include dependency graph

This graph shows which files directly or indirectly include this file:

Included by dependency graph

Go to the source code of this file.

Namespaces

namespace  ROBOOP

Classes

class  ROBOOP::Spl_cubic
 Natural cubic splines class. More...
class  ROBOOP::Spl_path
 Cartesian or joint space trajectory. More...
class  ROBOOP::Spl_Quaternion
 Cubic quaternions spline. More...
class  ROBOOP::Trajectory_Select
 Trajectory class selection. More...

Defines

#define K_ZER0   1
#define BAD_DATA   -1
#define EXTRAPOLLATION   -2
#define NOT_IN_RANGE   -3
#define NONE   0
#define JOINT_SPACE   1
#define CARTESIAN_SPACE   2

Typedefs

typedef map< Real, ColumnVector,
less< Real > > 
point_map
 Data at control points.
typedef map< Real, Quaternion,
less< Real > > 
quat_map
 Data at control points.

Variables

const char header_trajectory_rcsid [] = "$Id: trajectory.h,v 1.4 2004/07/14 02:32:12 ejt Exp $"
 RCS/CVS version.


Define Documentation

#define BAD_DATA   -1
 

Definition at line 82 of file trajectory.h.

#define CARTESIAN_SPACE   2
 

Definition at line 111 of file trajectory.h.

#define EXTRAPOLLATION   -2
 

Definition at line 83 of file trajectory.h.

#define JOINT_SPACE   1
 

Definition at line 110 of file trajectory.h.

#define K_ZER0   1
 

Definition at line 81 of file trajectory.h.

#define NONE   0
 

Definition at line 109 of file trajectory.h.

#define NOT_IN_RANGE   -3
 

Definition at line 84 of file trajectory.h.


Typedef Documentation

typedef map< Real, ColumnVector, less< Real > > ROBOOP::point_map
 

Data at control points.

Definition at line 114 of file trajectory.h.

Referenced by ROBOOP::Spl_path::Spl_path().

typedef map< Real, Quaternion, less< Real > > ROBOOP::quat_map
 

Data at control points.

Definition at line 143 of file trajectory.h.


Variable Documentation

const char header_trajectory_rcsid[] = "$Id: trajectory.h,v 1.4 2004/07/14 02:32:12 ejt Exp $" [static]
 

RCS/CVS version.

Definition at line 55 of file trajectory.h.


ROBOOP v1.21a
Generated Tue Oct 19 14:18:29 2004 by Doxygen 1.3.9.1