trajectory_generation Namespace Reference

Classes
struct	ConstrainedJointsCmd
struct	MotionConstraint
struct	MotionConstraints
struct	ReflexxesInputParameters
struct	ReflexxesOutputParameters
class	RMLCartesianPositionTask
class	RMLCartesianVelocityTask
class	RMLJointPositionTask
class	RMLJointVelocityTask
class	RMLPositionTask
class	RMLTask
class	RMLVelocityTask

Typedefs
typedef MotionConstraint	JointMotionConstraints
typedef MotionConstraints	JointsMotionConstraints

Enumerations
enum	PositionalLimitsBehavior { POSITIONAL_LIMITS_IGNORE, POSITIONAL_LIMITS_ERROR_MSG_ONLY, POSITIONAL_LIMITS_ACTIVELY_PREVENT }
enum	ReflexxesResultValue {   RML_WORKING = 0, RML_FINAL_STATE_REACHED = 1, RML_NO_ERROR = 2, RML_ERROR = -1,   RML_ERROR_INVALID_INPUT_VALUES = -100, RML_ERROR_EXECUTION_TIME_CALCULATION = -101, RML_ERROR_SYNCHRONIZATION = -102, RML_ERROR_NUMBER_OF_DOFS = -103,   RML_ERROR_NO_PHASE_SYNCHRONIZATION = -104, RML_ERROR_NULL_POINTER = -105, RML_ERROR_EXECUTION_TIME_TOO_BIG = -106, RML_ERROR_USER_TIME_OUT_OF_RANGE = -107,   RML_ERROR_POSITIONAL_LIMITS = -108, RML_ERROR_OVERRIDE_OUT_OF_RANGE = -109, RML_NOT_INITIALIZED = -200 }

Functions
base::Vector3d	quaternion2Euler (const base::Orientation &orientation)
base::Orientation	euler2Quaternion (const base::Vector3d &euler)
void	rmlTypes2InputParams (const RMLInputParameters &in, ReflexxesInputParameters &out)
void	rmlTypes2InputParams (const RMLPositionInputParameters &in, ReflexxesInputParameters &out)
void	rmlTypes2InputParams (const RMLVelocityInputParameters &in, ReflexxesInputParameters &out)
void	rmlTypes2OutputParams (const RMLOutputParameters &in, ReflexxesOutputParameters &out)
void	rmlTypes2OutputParams (const RMLPositionOutputParameters &in, ReflexxesOutputParameters &out)
void	rmlTypes2OutputParams (const RMLVelocityOutputParameters &in, ReflexxesOutputParameters &out)
void	jointState2RmlTypes (const base::samples::Joints &joint_state, const std::vector< std::string > &names, const RMLFlags &flags, RMLInputParameters &params)
void	rmlTypes2JointState (const RMLInputParameters &params, base::samples::Joints &joint_state)
void	cartesianState2RmlTypes (const base::samples::RigidBodyState &cartesian_state, RMLInputParameters &params)
void	rmlTypes2CartesianState (const RMLInputParameters &params, base::samples::RigidBodyState &cartesian_state)
void	motionConstraint2RmlTypes (const MotionConstraint &constraint, const uint idx, RMLInputParameters &params)
void	motionConstraint2RmlTypes (const MotionConstraint &constraint, const uint idx, RMLPositionInputParameters &params)
void	motionConstraint2RmlTypes (const MotionConstraint &constraint, const uint idx, RMLVelocityInputParameters &params)
void	rmlTypes2Command (const RMLPositionOutputParameters &params, base::commands::Joints &command)
void	rmlTypes2Command (const RMLPositionOutputParameters &params, base::samples::RigidBodyState &command)
void	rmlTypes2Command (const RMLVelocityOutputParameters &params, base::commands::Joints &command)
void	rmlTypes2Command (const RMLVelocityOutputParameters &params, base::samples::RigidBodyState &command)
void	target2RmlTypes (const ConstrainedJointsCmd &target, const MotionConstraints &default_constraints, RMLPositionInputParameters &params)
void	target2RmlTypes (const ConstrainedJointsCmd &target, const MotionConstraints &default_constraints, RMLVelocityInputParameters &params)
void	target2RmlTypes (const base::samples::RigidBodyState &target, RMLPositionInputParameters &params)
void	target2RmlTypes (const base::samples::RigidBodyState &target, RMLVelocityInputParameters &params)
void	target2RmlTypes (const double target_pos, const double target_vel, const uint idx, RMLPositionInputParameters &params)
void	target2RmlTypes (const double target_vel, const uint idx, RMLVelocityInputParameters &params)
void	cropTargetAtPositionLimits (RMLPositionInputParameters &params)
void	fixRmlSynchronizationBug (const double cycle_time, RMLVelocityInputParameters &params)

Typedef Documentation

typedef MotionConstraint trajectory_generation::JointMotionConstraints

For backward compatibility

typedef MotionConstraints trajectory_generation::JointsMotionConstraints

For backward compatibility

Enumeration Type Documentation

enum trajectory_generation::PositionalLimitsBehavior

Behavior at positional limits. Only reflexxes type IV

Enumerator
POSITIONAL_LIMITS_IGNORE
POSITIONAL_LIMITS_ERROR_MSG_ONLY	Positional limits are completely ignored
POSITIONAL_LIMITS_ACTIVELY_PREVENT	Component will go into error state if target is out of bounds Reflexxes will make a smooth transition at the bounds and prevent exceededing them

enum trajectory_generation::ReflexxesResultValue

Result values of the Online Trajectory Generation algorithm. See reflexxes/ReflexxesAPI.h for further details

Enumerator
RML_WORKING
RML_FINAL_STATE_REACHED	The Online Trajectory Generation algorithm is working; the final state of motion has not been reached yet.
RML_NO_ERROR	The desired final state of motion has been reached.
RML_ERROR	This value is returned by the method ReflexxesAPI::SetupOverrideFilter() if executed successfully.
RML_ERROR_INVALID_INPUT_VALUES	Initialization value of TypeIVRMLPosition::ReturnValue. Should never be returned.
RML_ERROR_EXECUTION_TIME_CALCULATION	The applied input values are invalid
RML_ERROR_SYNCHRONIZATION	An error occurred during the first step of the algorithm (i.e., during the calculation of the synchronization time).
RML_ERROR_NUMBER_OF_DOFS	An error occurred during the second step of the algorithm (i.e., during the synchronization of the trajectory
RML_ERROR_NO_PHASE_SYNCHRONIZATION	DOF of input/output parameters and given dof do not match
RML_ERROR_NULL_POINTER	Phase synchronization error / snychronization physically or mathematically not possible
RML_ERROR_EXECUTION_TIME_TOO_BIG	Null pointer passed to call RMLPosition/RMLVelocity
RML_ERROR_USER_TIME_OUT_OF_RANGE	RML_MAX_EXECUTION_TIME
RML_ERROR_POSITIONAL_LIMITS	User selected RML_MAX_EXECUTION_TIME exceeded
RML_ERROR_OVERRIDE_OUT_OF_RANGE	Only TypeIV: Positional limits are exceeded
RML_NOT_INITIALIZED	Only TypeIV: This is return value indicates that the specified override value or filter time value is out of range.

Function Documentation

void trajectory_generation::cartesianState2RmlTypes	(	const base::samples::RigidBodyState &	cartesian_state,
		RMLInputParameters &	params
	)

void trajectory_generation::cropTargetAtPositionLimits

(

RMLPositionInputParameters &

params

)

base::Orientation trajectory_generation::euler2Quaternion

(

const base::Vector3d &

euler

)

void trajectory_generation::fixRmlSynchronizationBug	(	const double	cycle_time,
		RMLVelocityInputParameters &	params
	)

void trajectory_generation::jointState2RmlTypes	(	const base::samples::Joints &	joint_state,
		const std::vector< std::string > &	names,
		const RMLFlags &	flags,
		RMLInputParameters &	params
	)

void trajectory_generation::motionConstraint2RmlTypes	(	const MotionConstraint &	constraint,
		const uint	idx,
		RMLInputParameters &	params
	)

void trajectory_generation::motionConstraint2RmlTypes	(	const MotionConstraint &	constraint,
		const uint	idx,
		RMLPositionInputParameters &	params
	)

void trajectory_generation::motionConstraint2RmlTypes	(	const MotionConstraint &	constraint,
		const uint	idx,
		RMLVelocityInputParameters &	params
	)

base::Vector3d trajectory_generation::quaternion2Euler

(

const base::Orientation &

orientation

)

void trajectory_generation::rmlTypes2CartesianState	(	const RMLInputParameters &	params,
		base::samples::RigidBodyState &	cartesian_state
	)

void trajectory_generation::rmlTypes2Command	(	const RMLPositionOutputParameters &	params,
		base::commands::Joints &	command
	)

void trajectory_generation::rmlTypes2Command	(	const RMLPositionOutputParameters &	params,
		base::samples::RigidBodyState &	command
	)

void trajectory_generation::rmlTypes2Command	(	const RMLVelocityOutputParameters &	params,
		base::commands::Joints &	command
	)

void trajectory_generation::rmlTypes2Command	(	const RMLVelocityOutputParameters &	params,
		base::samples::RigidBodyState &	command
	)

void trajectory_generation::rmlTypes2InputParams	(	const RMLInputParameters &	in,
		ReflexxesInputParameters &	out
	)

void trajectory_generation::rmlTypes2InputParams	(	const RMLPositionInputParameters &	in,
		ReflexxesInputParameters &	out
	)

void trajectory_generation::rmlTypes2InputParams	(	const RMLVelocityInputParameters &	in,
		ReflexxesInputParameters &	out
	)

void trajectory_generation::rmlTypes2JointState	(	const RMLInputParameters &	params,
		base::samples::Joints &	joint_state
	)

void trajectory_generation::rmlTypes2OutputParams	(	const RMLOutputParameters &	in,
		ReflexxesOutputParameters &	out
	)

void trajectory_generation::rmlTypes2OutputParams	(	const RMLPositionOutputParameters &	in,
		ReflexxesOutputParameters &	out
	)

void trajectory_generation::rmlTypes2OutputParams	(	const RMLVelocityOutputParameters &	in,
		ReflexxesOutputParameters &	out
	)

void trajectory_generation::target2RmlTypes	(	const ConstrainedJointsCmd &	target,
		const MotionConstraints &	default_constraints,
		RMLPositionInputParameters &	params
	)

void trajectory_generation::target2RmlTypes	(	const ConstrainedJointsCmd &	target,
		const MotionConstraints &	default_constraints,
		RMLVelocityInputParameters &	params
	)

void trajectory_generation::target2RmlTypes	(	const base::samples::RigidBodyState &	target,
		RMLPositionInputParameters &	params
	)

void trajectory_generation::target2RmlTypes	(	const base::samples::RigidBodyState &	target,
		RMLVelocityInputParameters &	params
	)

void trajectory_generation::target2RmlTypes	(	const double	target_pos,
		const double	target_vel,
		const uint	idx,
		RMLPositionInputParameters &	params
	)

void trajectory_generation::target2RmlTypes	(	const double	target_vel,
		const uint	idx,
		RMLVelocityInputParameters &	params
	)