#include <RMLTask.hpp>

Inheritance diagram for trajectory_generation::RMLTask:

Public Member Functions
	RMLTask (std::string const &name="trajectory_generation::RMLTask")

	RMLTask (std::string const &name, RTT::ExecutionEngine *engine)

	~RMLTask ()

bool	configureHook ()

bool	startHook ()

void	updateHook ()

void	errorHook ()

void	stopHook ()

void	cleanupHook ()

Protected Member Functions
virtual void	updateMotionConstraints (const MotionConstraint &constraint, const size_t idx, RMLInputParameters *new_input_parameters)=0

virtual RTT::FlowStatus	updateCurrentState (RMLInputParameters *new_input_parameters)=0

virtual RTT::FlowStatus	updateTarget (RMLInputParameters *new_input_parameters)=0

virtual ReflexxesResultValue	performOTG (RMLInputParameters new_input_parameters, RMLOutputParameters new_output_parameters, RMLFlags *rml_flags)=0

virtual void	writeCommand (const RMLOutputParameters &new_output_parameters)=0

virtual void	printParams (const RMLInputParameters &in, const RMLOutputParameters &out)=0

virtual const ReflexxesInputParameters &	convertRMLInputParams (const RMLInputParameters &in, ReflexxesInputParameters &out)=0

virtual const ReflexxesOutputParameters &	convertRMLOutputParams (const RMLOutputParameters &in, ReflexxesOutputParameters &out)=0

void	handleResultValue (ReflexxesResultValue result_value)

Protected Attributes
MotionConstraints	motion_constraints

ReflexxesAPI *	rml_api

RMLInputParameters *	rml_input_parameters

RMLOutputParameters *	rml_output_parameters

RMLFlags *	rml_flags

ReflexxesResultValue	rml_result_value

ReflexxesInputParameters	input_parameters

ReflexxesOutputParameters	output_parameters

base::Time	timestamp

double	cycle_time

Friends
class	RMLTaskBase

Detailed Description

This task generates a feasible, time-stamped trajectory to a given a target (position/velocity, depending on the subclass used). "Feasible" means here that the output trajectory (command port) will respect the motion constraints defined by the motion_constraints-property, that is maximum/minimum position (only Reflexxes TypeIV), maximum speed, maximum acceleration and maximum jerk (derivative of acceleration). The motion constraints structure is define in trajectory_generationTypes.hpp.

Constructor & Destructor Documentation

◆ RMLTask() [1/2]

RMLTask::RMLTask ( std::string const & name = "trajectory_generation::RMLTask" )

◆ RMLTask() [2/2]

RMLTask::RMLTask	(	std::string const &	name,
		RTT::ExecutionEngine *	engine
	)

◆ ~RMLTask()

RMLTask::~RMLTask ( )

Member Function Documentation

◆ cleanupHook()

void RMLTask::cleanupHook ( )

◆ configureHook()

bool RMLTask::configureHook ( )

◆ convertRMLInputParams()

virtual const ReflexxesInputParameters& trajectory_generation::RMLTask::convertRMLInputParams	(	const RMLInputParameters &	in,
		ReflexxesInputParameters &	out
	)

protectedpure virtual

Convert from RMLInputParameters to orogen type

◆ convertRMLOutputParams()

virtual const ReflexxesOutputParameters& trajectory_generation::RMLTask::convertRMLOutputParams	(	const RMLOutputParameters &	in,
		ReflexxesOutputParameters &	out
	)

protectedpure virtual

Convert from RMLOutputParameters to orogen type

◆ errorHook()

void RMLTask::errorHook ( )

◆ handleResultValue()

void RMLTask::handleResultValue ( ReflexxesResultValue result_value )

protected

Handle result of the OTG algorithm. Handle errors.

◆ performOTG()

virtual ReflexxesResultValue trajectory_generation::RMLTask::performOTG	(	RMLInputParameters *	new_input_parameters,
		RMLOutputParameters *	new_output_parameters,
		RMLFlags *	rml_flags
	)

protectedpure virtual

Perform one step of online trajectory generation (call the RML algorithm with the given parameters). Return the RML result value

◆ printParams()

virtual void trajectory_generation::RMLTask::printParams	(	const RMLInputParameters &	in,
		const RMLOutputParameters &	out
	)

protectedpure virtual

Call echo() method for rml input and output parameters

◆ startHook()

bool RMLTask::startHook ( )

◆ stopHook()

void RMLTask::stopHook ( )

◆ updateCurrentState()

virtual RTT::FlowStatus trajectory_generation::RMLTask::updateCurrentState ( RMLInputParameters * new_input_parameters )

protectedpure virtual

Read the current state from port and return position and flow status

◆ updateHook()

void RMLTask::updateHook ( )

◆ updateMotionConstraints()

virtual void trajectory_generation::RMLTask::updateMotionConstraints	(	const MotionConstraint &	constraint,
		const size_t	idx,
		RMLInputParameters *	new_input_parameters
	)

protectedpure virtual

Cycle time for interpolation Update the motion constraints of a particular element

◆ updateTarget()

virtual RTT::FlowStatus trajectory_generation::RMLTask::updateTarget ( RMLInputParameters * new_input_parameters )

protectedpure virtual

Update the RML input parameters with the new target

◆ writeCommand()

virtual void trajectory_generation::RMLTask::writeCommand ( const RMLOutputParameters & new_output_parameters )

protectedpure virtual

Write the generated trajectory to port

Friends And Related Function Documentation

◆ RMLTaskBase

friend class RMLTaskBase

friend

Member Data Documentation

◆ cycle_time

double trajectory_generation::RMLTask::cycle_time

protected

Timestamp if updateHook();

◆ input_parameters

ReflexxesInputParameters trajectory_generation::RMLTask::input_parameters

protected

Current result value of RML, will be RML_NOT_INITIALIZED in the beginning

◆ motion_constraints

MotionConstraints trajectory_generation::RMLTask::motion_constraints

protected

◆ output_parameters

ReflexxesOutputParameters trajectory_generation::RMLTask::output_parameters

protected

RMLInputParameters do not work with orogen, so use own type

◆ rml_api

ReflexxesAPI* trajectory_generation::RMLTask::rml_api

protected

Motion constraints that define the properties of the output trajectory

◆ rml_flags

RMLFlags* trajectory_generation::RMLTask::rml_flags

protected

Output parameters of the OTG algorithm (new states, errors, ...).

◆ rml_input_parameters

RMLInputParameters* trajectory_generation::RMLTask::rml_input_parameters

protected

Interface to the Online Trajectory Generation algorithms of the Reflexxes Motion Libraries

◆ rml_output_parameters

RMLOutputParameters* trajectory_generation::RMLTask::rml_output_parameters

protected

Input parameters for the OTG algorithm (target, constraints, flags, ...).

◆ rml_result_value

ReflexxesResultValue trajectory_generation::RMLTask::rml_result_value

protected

Input flags for the RML algorithm.

◆ timestamp

base::Time trajectory_generation::RMLTask::timestamp

protected

RMLOutputParameters do not work with orogen, so use own type

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

/build/rock-master-18.09-control-orogen-trajectory-generation-0.20180822/tasks/RMLTask.hpp
/build/rock-master-18.09-control-orogen-trajectory-generation-0.20180822/tasks/RMLTask.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Friends

Detailed Description

Constructor & Destructor Documentation

◆ RMLTask() [1/2]

◆ RMLTask() [2/2]

◆ ~RMLTask()

Member Function Documentation

◆ cleanupHook()

◆ configureHook()

◆ convertRMLInputParams()

◆ convertRMLOutputParams()

◆ errorHook()

◆ handleResultValue()

◆ performOTG()

◆ printParams()

◆ startHook()

◆ stopHook()

◆ updateCurrentState()

◆ updateHook()

◆ updateMotionConstraints()

◆ updateTarget()

◆ writeCommand()

Friends And Related Function Documentation

◆ RMLTaskBase

Member Data Documentation

◆ cycle_time

◆ input_parameters

◆ motion_constraints

◆ output_parameters

◆ rml_api

◆ rml_flags

◆ rml_input_parameters

◆ rml_output_parameters

◆ rml_result_value

◆ timestamp