ndcurves 2.1.0
create and manipulate spline and bezier curves.
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ndcurves::helpers::effector_spline_rotation Class Reference

Represents a trajectory for and end effector. uses the method effector_spline to create a spline trajectory. Additionally, handles the rotation of the effector as follows: does not rotate during the take off and landing phase, then uses a SLERP algorithm to interpolate the rotation in the quaternion space. More...

#include <ndcurves/helpers/effector_spline_rotation.h>

Public Member Functions

template<typename In>
 effector_spline_rotation (In wayPointsBegin, In wayPointsEnd, quat_ref_const_t &to_quat=quat_t(0, 0, 0, 1), quat_ref_const_t &land_quat=quat_t(0, 0, 0, 1), const Point &lift_normal=Eigen::Vector3d::UnitZ(), const Point &land_normal=Eigen::Vector3d::UnitZ(), const Numeric lift_offset=0.02, const Numeric land_offset=0.02, const Time lift_offset_duration=0.02, const Time land_offset_duration=0.02)
 Constructor. Given a set of waypoints, and the normal vector of the start and ending positions, automatically create the spline such that:
template<typename In, typename InQuat>
 effector_spline_rotation (In wayPointsBegin, In wayPointsEnd, InQuat quatWayPointsBegin, InQuat quatWayPointsEnd, const Point &lift_normal=Eigen::Vector3d::UnitZ(), const Point &land_normal=Eigen::Vector3d::UnitZ(), const Numeric lift_offset=0.02, const Numeric land_offset=0.02, const Time lift_offset_duration=0.02, const Time land_offset_duration=0.02)
 Constructor. Given a set of waypoints, and the normal vector of the start and ending positions, automatically create the spline such that:
virtual ~effector_spline_rotation ()
Numeric min () const
Numeric max () const
config_t operator() (const Numeric t) const
 Evaluation of the effector position and rotation at time t.
quat_t interpolate_quat (const Numeric t) const

Public Attributes

const exact_cubic_t * spline_
const Eigen::Quaterniond to_quat_
const Eigen::Quaterniond land_quat_
const double time_lift_offset_
const double time_land_offset_
const exact_cubic_quat_t quat_spline_

Detailed Description

Represents a trajectory for and end effector. uses the method effector_spline to create a spline trajectory. Additionally, handles the rotation of the effector as follows: does not rotate during the take off and landing phase, then uses a SLERP algorithm to interpolate the rotation in the quaternion space.

Constructor & Destructor Documentation

◆ effector_spline_rotation() [1/2]

template<typename In>
ndcurves::helpers::effector_spline_rotation::effector_spline_rotation(InwayPointsBegin,
InwayPointsEnd,
quat_ref_const_t &to_quat = quat_t(0, 0, 0, 1),
quat_ref_const_t &land_quat = quat_t(0, 0, 0, 1),
const Point &lift_normal = Eigen::Vector3d::UnitZ(),
const Point &land_normal = Eigen::Vector3d::UnitZ(),
const Numericlift_offset = 0.02,
const Numericland_offset = 0.02,
const Timelift_offset_duration = 0.02,
const Timeland_offset_duration = 0.02 )
inline

Constructor. Given a set of waypoints, and the normal vector of the start and ending positions, automatically create the spline such that:

  • init and end velocities / accelerations are 0
  • the effector lifts and lands exactly in the direction of the specified normals.
    Parameters
    wayPointsBegin: an iterator pointing to the first element of a waypoint container.
    wayPointsEnd: an iterator pointing to the last element of a waypoint container.
    to_quat: 4D vector, quaternion indicating rotation at take off(x, y, z, w).
    land_quat: 4D vector, quaternion indicating rotation at landing (x, y, z, w).
    lift_normal: normal to be followed by end effector at take-off.
    land_normal: normal to be followed by end effector at landing.
    lift_offset: length of the straight line along normal at take-off.
    land_offset: length of the straight line along normal at landing.
    lift_offset_duration: time travelled along straight line at take-off.
    land_offset_duration: time travelled along straight line at landing.

◆ effector_spline_rotation() [2/2]

template<typename In, typename InQuat>
ndcurves::helpers::effector_spline_rotation::effector_spline_rotation(InwayPointsBegin,
InwayPointsEnd,
InQuatquatWayPointsBegin,
InQuatquatWayPointsEnd,
const Point &lift_normal = Eigen::Vector3d::UnitZ(),
const Point &land_normal = Eigen::Vector3d::UnitZ(),
const Numericlift_offset = 0.02,
const Numericland_offset = 0.02,
const Timelift_offset_duration = 0.02,
const Timeland_offset_duration = 0.02 )
inline

Constructor. Given a set of waypoints, and the normal vector of the start and ending positions, automatically create the spline such that:

  • init and end velocities / accelerations are 0
  • the effector lifts and lands exactly in the direction of the specified normals.
    Parameters
    wayPointsBegin: an iterator pointing to the first element of a waypoint container.
    wayPointsEnd: an iterator pointing to the last element of a waypoint container.
    quatWayPointsBegin: en iterator pointing to the first element of a 4D vector (x, y, z, w) container of quaternions indicating rotation at specific time steps.
    quatWayPointsEnd: en iterator pointing to the last element of a 4D vector (x, y, z, w) container of quaternions indicating rotation at specific time steps.
    lift_normal: normal to be followed by end effector at take-off.
    land_normal: normal to be followed by end effector at landing.
    lift_offset: length of the straight line along normal at take-off.
    land_offset: length of the straight line along normal at landing.
    lift_offset_duration: time travelled along straight line at take-off.
    land_offset_duration: time travelled along straight line at landing.

◆ ~effector_spline_rotation()

virtual ndcurves::helpers::effector_spline_rotation::~effector_spline_rotation()
inlinevirtual

Member Function Documentation

◆ interpolate_quat()

quat_t ndcurves::helpers::effector_spline_rotation::interpolate_quat(const Numerict)const
inline

◆ max()

Numeric ndcurves::helpers::effector_spline_rotation::max()const
inline

◆ min()

Numeric ndcurves::helpers::effector_spline_rotation::min()const
inline

◆ operator()()

config_t ndcurves::helpers::effector_spline_rotation::operator()(const Numerict)const
inline

Evaluation of the effector position and rotation at time t.

Parameters
t: the time when to evaluate the spline.
Returns
A 7D vector where the 3 first values are the 3D position and the 4 last are the quaternion describing the rotation.

Member Data Documentation

◆ land_quat_

const Eigen::Quaterniond ndcurves::helpers::effector_spline_rotation::land_quat_

◆ quat_spline_

const exact_cubic_quat_t ndcurves::helpers::effector_spline_rotation::quat_spline_

◆ spline_

const exact_cubic_t* ndcurves::helpers::effector_spline_rotation::spline_

◆ time_land_offset_

const double ndcurves::helpers::effector_spline_rotation::time_land_offset_

◆ time_lift_offset_

const double ndcurves::helpers::effector_spline_rotation::time_lift_offset_

◆ to_quat_

const Eigen::Quaterniond ndcurves::helpers::effector_spline_rotation::to_quat_
The documentation for this class was generated from the following file: