Represents a discretized joint-space trajectory for CHOMP. More...

#include <chomp_trajectory.h>

Public Member Functions
	ChompTrajectory (const moveit::core::RobotModelConstPtr &robot_model, double duration, double discretization, const std::string &group_name)
	Constructs a trajectory for a given robot model, trajectory duration, and discretization.

	ChompTrajectory (const moveit::core::RobotModelConstPtr &robot_model, size_t num_points, double discretization, const std::string &group_name)
	Constructs a trajectory for a given robot model, number of trajectory points, and discretization.

	ChompTrajectory (const ChompTrajectory &source_traj, const std::string &group_name, int diff_rule_length)
	Creates a new containing only the joints of interest, and adds padding to the start and end if needed, to have enough trajectory points for the differentiation rules.

	ChompTrajectory (const moveit::core::RobotModelConstPtr &robot_model, const std::string &group_name, const trajectory_msgs::msg::JointTrajectory &traj)

virtual	~ChompTrajectory ()=default
	Destructor.

double &	operator() (size_t traj_point, size_t joint)

double	operator() (size_t traj_point, size_t joint) const

Eigen::MatrixXd::RowXpr	getTrajectoryPoint (int traj_point)

Eigen::MatrixXd::ColXpr	getJointTrajectory (int joint)

size_t	getNumPoints () const
	Gets the number of points in the trajectory.

size_t	getNumFreePoints () const
	Gets the number of points (that are free to be optimized) in the trajectory.

size_t	getNumJoints () const
	Gets the number of joints in each trajectory point.

double	getDiscretization () const
	Gets the discretization time interval of the trajectory.

void	fillInMinJerk ()
	Generates a minimum jerk trajectory from the start index to end index.

void	fillInLinearInterpolation ()
	Generates a linearly interpolated trajectory from the start index to end index.

void	fillInCubicInterpolation ()
	Generates a cubic interpolation of the trajectory from the start index to end index.

bool	fillInFromTrajectory (const robot_trajectory::RobotTrajectory &trajectory)
	Receives the path obtained from a given MotionPlanDetailedResponse res object's trajectory (e.g., trajectory produced by OMPL) and puts it into the appropriate trajectory format required for CHOMP.

void	assignCHOMPTrajectoryPointFromRobotState (const moveit::core::RobotState &source, size_t chomp_trajectory_point, const moveit::core::JointModelGroup *group)
	This function assigns the given source RobotState to the row at index chomp_trajectory_point.

void	setStartEndIndex (size_t start_index, size_t end_index)
	Sets the start and end index for the modifiable part of the trajectory.

size_t	getStartIndex () const
	Gets the start index.

size_t	getEndIndex () const
	Gets the end index.

Eigen::MatrixXd &	getTrajectory ()
	Gets the entire trajectory matrix.

Eigen::Block< Eigen::MatrixXd, Eigen::Dynamic, Eigen::Dynamic >	getFreeTrajectoryBlock ()
	Gets the block of the trajectory which can be optimized.

Eigen::Block< Eigen::MatrixXd, Eigen::Dynamic, Eigen::Dynamic >	getFreeJointTrajectoryBlock (size_t joint)
	Gets the block of free (optimizable) trajectory for a single joint.

void	updateFromGroupTrajectory (const ChompTrajectory &group_trajectory)
	Updates the full trajectory (*this) from the group trajectory.

size_t	getFullTrajectoryIndex (size_t i) const
	Gets the index in the full trajectory which was copied to this group trajectory.

template<typename Derived >
void	getJointVelocities (size_t traj_point, Eigen::MatrixBase< Derived > &velocities)
	Gets the joint velocities at the given trajectory point.

double	getDuration () const

Detailed Description

Represents a discretized joint-space trajectory for CHOMP.

Definition at line 53 of file chomp_trajectory.h.

Constructor & Destructor Documentation

◆ ChompTrajectory() [1/4]

chomp::ChompTrajectory::ChompTrajectory	(	const moveit::core::RobotModelConstPtr &	robot_model,
		double	duration,
		double	discretization,
		const std::string &	group_name
	)

Constructs a trajectory for a given robot model, trajectory duration, and discretization.

Definition at line 41 of file chomp_trajectory.cpp.

◆ ChompTrajectory() [2/4]

chomp::ChompTrajectory::ChompTrajectory	(	const moveit::core::RobotModelConstPtr &	robot_model,
		size_t	num_points,
		double	discretization,
		const std::string &	group_name
	)

Constructs a trajectory for a given robot model, number of trajectory points, and discretization.

Definition at line 47 of file chomp_trajectory.cpp.

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◆ ChompTrajectory() [3/4]

chomp::ChompTrajectory::ChompTrajectory	(	const ChompTrajectory &	source_traj,
		const std::string &	group_name,
		int	diff_rule_length
	)

Creates a new containing only the joints of interest, and adds padding to the start and end if needed, to have enough trajectory points for the differentiation rules.

Definition at line 61 of file chomp_trajectory.cpp.

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◆ ChompTrajectory() [4/4]

chomp::ChompTrajectory::ChompTrajectory	(	const moveit::core::RobotModelConstPtr &	robot_model,
		const std::string &	group_name,
		const trajectory_msgs::msg::JointTrajectory &	traj
	)

◆ ~ChompTrajectory()

virtual chomp::ChompTrajectory::~ChompTrajectory ( )

virtualdefault

Destructor.

Member Function Documentation

◆ assignCHOMPTrajectoryPointFromRobotState()

void chomp::ChompTrajectory::assignCHOMPTrajectoryPointFromRobotState	(	const moveit::core::RobotState &	source,
		size_t	chomp_trajectory_point,
		const moveit::core::JointModelGroup *	group
	)

This function assigns the given source RobotState to the row at index chomp_trajectory_point.

Parameters

source	The source RobotState
chomp_trajectory_point	index of the chomp_trajectory's point (row)
group	JointModelGroup determining the joints to copy

Definition at line 211 of file chomp_trajectory.cpp.

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◆ fillInCubicInterpolation()

void chomp::ChompTrajectory::fillInCubicInterpolation ( )

Generates a cubic interpolation of the trajectory from the start index to end index.

Only modifies points from start_index_ to end_index_, inclusive

Definition at line 120 of file chomp_trajectory.cpp.

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◆ fillInFromTrajectory()

bool chomp::ChompTrajectory::fillInFromTrajectory ( const robot_trajectory::RobotTrajectory & trajectory )

Receives the path obtained from a given MotionPlanDetailedResponse res object's trajectory (e.g., trajectory produced by OMPL) and puts it into the appropriate trajectory format required for CHOMP.

Parameters

res

Definition at line 188 of file chomp_trajectory.cpp.

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◆ fillInLinearInterpolation()

void chomp::ChompTrajectory::fillInLinearInterpolation ( )

Generates a linearly interpolated trajectory from the start index to end index.

Only modifies points from start_index_ to end_index_, inclusive

Definition at line 106 of file chomp_trajectory.cpp.

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◆ fillInMinJerk()

void chomp::ChompTrajectory::fillInMinJerk ( )

Generates a minimum jerk trajectory from the start index to end index.

Only modifies points from start_index_ to end_index_, inclusive.

Definition at line 142 of file chomp_trajectory.cpp.

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◆ getDiscretization()

double chomp::ChompTrajectory::getDiscretization ( ) const

inline

Gets the discretization time interval of the trajectory.

Definition at line 250 of file chomp_trajectory.h.

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◆ getDuration()

double chomp::ChompTrajectory::getDuration ( ) const

inline

Definition at line 304 of file chomp_trajectory.h.

◆ getEndIndex()

size_t chomp::ChompTrajectory::getEndIndex ( ) const

inline

Gets the end index.

Definition at line 266 of file chomp_trajectory.h.

◆ getFreeJointTrajectoryBlock()

Eigen::Block< Eigen::MatrixXd, Eigen::Dynamic, Eigen::Dynamic > chomp::ChompTrajectory::getFreeJointTrajectoryBlock ( size_t joint )

inline

Gets the block of free (optimizable) trajectory for a single joint.

Definition at line 282 of file chomp_trajectory.h.

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◆ getFreeTrajectoryBlock()

Eigen::Block< Eigen::MatrixXd, Eigen::Dynamic, Eigen::Dynamic > chomp::ChompTrajectory::getFreeTrajectoryBlock ( )

inline

Gets the block of the trajectory which can be optimized.

Definition at line 276 of file chomp_trajectory.h.

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◆ getFullTrajectoryIndex()

size_t chomp::ChompTrajectory::getFullTrajectoryIndex ( size_t i ) const

inline

Gets the index in the full trajectory which was copied to this group trajectory.

Definition at line 287 of file chomp_trajectory.h.

◆ getJointTrajectory()

Eigen::MatrixXd::ColXpr chomp::ChompTrajectory::getJointTrajectory ( int joint )

inline

Definition at line 230 of file chomp_trajectory.h.

◆ getJointVelocities()

template<typename Derived >

void chomp::ChompTrajectory::getJointVelocities	(	size_t	traj_point,
		Eigen::MatrixBase< Derived > &	velocities
	)

Gets the joint velocities at the given trajectory point.

Definition at line 293 of file chomp_trajectory.h.

◆ getNumFreePoints()

size_t chomp::ChompTrajectory::getNumFreePoints ( ) const

inline

Gets the number of points (that are free to be optimized) in the trajectory.

Definition at line 240 of file chomp_trajectory.h.

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◆ getNumJoints()

size_t chomp::ChompTrajectory::getNumJoints ( ) const

inline

Gets the number of joints in each trajectory point.

Definition at line 245 of file chomp_trajectory.h.

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◆ getNumPoints()

size_t chomp::ChompTrajectory::getNumPoints ( ) const

inline

Gets the number of points in the trajectory.

Definition at line 235 of file chomp_trajectory.h.

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◆ getStartIndex()

size_t chomp::ChompTrajectory::getStartIndex ( ) const

inline

Gets the start index.

Definition at line 261 of file chomp_trajectory.h.

◆ getTrajectory()

Eigen::MatrixXd & chomp::ChompTrajectory::getTrajectory ( )

inline

Gets the entire trajectory matrix.

Definition at line 271 of file chomp_trajectory.h.

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◆ getTrajectoryPoint()

Eigen::MatrixXd::RowXpr chomp::ChompTrajectory::getTrajectoryPoint ( int traj_point )

inline

Definition at line 225 of file chomp_trajectory.h.

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◆ operator()() [1/2]

double & chomp::ChompTrajectory::operator()	(	size_t	traj_point,
		size_t	joint
	)

inline

Definition at line 215 of file chomp_trajectory.h.

◆ operator()() [2/2]

double chomp::ChompTrajectory::operator()	(	size_t	traj_point,
		size_t	joint
	)		const

inline

Definition at line 220 of file chomp_trajectory.h.

◆ setStartEndIndex()

void chomp::ChompTrajectory::setStartEndIndex	(	size_t	start_index,
		size_t	end_index
	)

inline

Sets the start and end index for the modifiable part of the trajectory.

(Everything before the start and after the end index is considered fixed) The values default to 1 and getNumPoints()-2

Definition at line 255 of file chomp_trajectory.h.

◆ updateFromGroupTrajectory()

void chomp::ChompTrajectory::updateFromGroupTrajectory ( const ChompTrajectory & group_trajectory )

Updates the full trajectory (*this) from the group trajectory.

Definition at line 99 of file chomp_trajectory.cpp.

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

moveit_planners/chomp/chomp_motion_planner/include/chomp_motion_planner/chomp_trajectory.h
moveit_planners/chomp/chomp_motion_planner/src/chomp_trajectory.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ChompTrajectory() [1/4]

◆ ChompTrajectory() [2/4]

◆ ChompTrajectory() [3/4]

◆ ChompTrajectory() [4/4]

◆ ~ChompTrajectory()

Member Function Documentation

◆ assignCHOMPTrajectoryPointFromRobotState()

◆ fillInCubicInterpolation()

◆ fillInFromTrajectory()

◆ fillInLinearInterpolation()

◆ fillInMinJerk()

◆ getDiscretization()

◆ getDuration()

◆ getEndIndex()

◆ getFreeJointTrajectoryBlock()

◆ getFreeTrajectoryBlock()

◆ getFullTrajectoryIndex()

◆ getJointTrajectory()

◆ getJointVelocities()

◆ getNumFreePoints()

◆ getNumJoints()

◆ getNumPoints()

◆ getStartIndex()

◆ getTrajectory()

◆ getTrajectoryPoint()

◆ operator()() [1/2]

◆ operator()() [2/2]

◆ setStartEndIndex()

◆ updateFromGroupTrajectory()