base::Trajectory Class Reference

Inheritance diagram for base::Trajectory:

[legend]Collaboration diagram for base::Trajectory:

[legend]List of all members.


Public Types
enum	ExternalizationType { Input = 1, Output = 2, IO = 3 }
Public Member Functions
	Trajectory ()
	default trajectory - all points & times range over [0..1] secs.
	Trajectory (const Trajectory &t)
	copy trajectory t
	Trajectory (const Path &p, Int samples=100)
	Trajectory (const Point3 &sp, const Orient &so, const Time &st, const Point3 &ep, const Orient &eo, const Time &et)
	simple line segment start[position\|orientation\|time] - end[position\|orientation\|time]
	Trajectory (const array< Point3 > &points, const array< Orient > &orients=array< Orient >(), const array< Time > &times=array< Time >(), bool deltas=false)
	Trajectory (const array< Vector > &points, bool deltas=false)
	Trajectory (const ExpressionVector &p)
	arbitrary path defined by symbolic expressions for x,y,z,qx,qy,qz,qw,t in terms of s
virtual String	className () const
Point3	position (const Time &t) const
	get cartesian position at time t
Orient	orientation (const Time &t) const
	get orientation at time t
Time	time (Real s) const
	get time at s:[0..1]
void	resample (Int samples=100)
	discard distinguished points and replace them by 'samples' distingushed points over s=[0..1]
void	resample (const Real dxmax)
	add distinguished points as necessary to ensure that distance between the positions of any pair of distinguished points is <= dxmax
void	shiftTime (const Time &dt)
	shift time by dt
void	scaleTime (Real s)
	scale time by s
Path	toPath () const
	convert to a Path by discarding time information
virtual void	serialize (Serializer &s)
	read or write object state to Serializer
virtual bool	formatSupported (String format, Real version=1.0, ExternalizationType type=IO) const
	query if specific format is supported (for input, output or both)
virtual void	externalize (Externalizer &e, String format="", Real version=1.0)
	read or write object state to Externalizer
Point3	position (Real s) const
	get cartesian position at s:[0..1]
Orient	orientation (Real s) const
	get orientation at s:[0..1]
const String &	getCoordFrame () const
void	setCoordFrame (const String &coordFrame)
	set application defined coordinate frame specifier.
const String &	getUnits () const
void	setUnits (const String &unitSpecifier)
	set application defined unit specifier.
Real	distinguishedValue (Int i) const
Int	numDistinguishedValues () const
	< number of distinguished s values
void	translate (const Vector3 &t)
	translate the path position by t
void	rotate (const Quat4 &r)
	rotate the path orientation by r
void	transform (const Matrix4 &m)
	transform the path by m
void	scalePosition (Real s)
	scale position coords. by s
virtual void	externalize (Externalizer &e, String format="", Real version=1.0) const
	write object state to Externalizer (throws if e is in Input)
virtual bool	isSameKindAs (const Object &) const
void	load (ref< VFile > archive, const String &format="", Real version=1.0)
void	save (ref< VFile > archive, const String &format="", Real version=1.0)
Static Public Member Functions
template<class BaseClass, class DerivedClass> void	registerSerializableInstantiator (const SerializableInstantiator &instantiator)
void	registerSerializableInstantiator (const String &baseClassTypeName, const String &derivedClassTypeName, const SerializableInstantiator &instantiator)
template<class BaseClass> const SerializableInstantiator &	getSerializableInstantiator (const String &derivedClassTypeName)
const SerializableInstantiator &	getSerializableInstantiator (const String &baseClassTypeName, const String &derivedClassTypeName)
Protected Member Functions
virtual void	create ()
virtual void	create (const Trajectory &t)
virtual void	create (const Point3 &sp, const Orient &so, const Point3 &ep, const Orient &eo)
virtual void	create (const Point3 &sp, const Orient &so, const Time &st, const Point3 &ep, const Orient &eo, const Time &et)
virtual void	create (const array< Point3 > &points, const array< Orient > &orients, bool deltas)
virtual void	create (const array< Point3 > &points, const array< Orient > &orients, const array< Time > &times, bool deltas)
virtual void	create (const array< Vector > &points, bool deltas)
virtual void	create (const ExpressionVector &p)
void	init (const array< Point3 > &points, const array< Orient > &orients, const array< Time > &times, bool deltas)
virtual void	create (const Path &p)
void	init (const array< Point3 > &points, const array< Orient > &orients, bool deltas)
Protected Attributes
ref< TrajectoryTimeRep >	trep
	representation
Serializable::SerializableDerivedInstantiator< LineSegTrajectoryRep >	lineSegTrajectoryRepInstantiator
Serializable::SerializableDerivedInstantiator< WaypointTrajectoryRep >	waypointTrajectoryRepInstantiator
Serializable::SerializableDerivedInstantiator< ParametricTrajectoryRep >	parametricTrajectoryRepInstantiator
ref< PathRep >	rep
	representation
String	frame
	application defined coord. frame specifier
String	units
	application defined unit specifier
Serializable::SerializableDerivedInstantiator< LineSegPathRep >	lineSegPathRepInstantiator
Serializable::SerializableDerivedInstantiator< WaypointPathRep >	waypointPathRepInstantiator
Friends
class	Trajectory

Detailed Description

A Trajectory specifies a space-time curve. It is a Path through 6-space (position & orientation) where each point occurs at a specific time.

See also:: base::Path. Note that unlike Path for which the parameter s varies over the path length, instead s:[0..1] varies proportionally over time t:[start-time, end-time].

Definition at line 50 of file Trajectory.

Member Enumeration Documentation

enum base::Externalizable::ExternalizationType [inherited]

Enumeration values:

Input

Output

IO

Definition at line 40 of file Externalizable.

Constructor & Destructor Documentation

base::Trajectory::Trajectory ( )

default trajectory - all points & times range over [0..1] secs.

base::Trajectory::Trajectory ( const Trajectory & t )

copy trajectory t

base::Trajectory::Trajectory ( const Path & p,

Int samples = 100

)

copy Path p (times will be in range [0..1] secs) If p has >2 distinguished points, then the trajectory is created by sampling the path at those points, otherwise it is created by dividing the range s:[0..1] into the no. of

base::Trajectory::Trajectory ( const Point3 & sp,

const Orient & so,

const Time & st,

const Point3 & ep,

const Orient & eo,

const Time & et

)

simple line segment start[position|orientation|time] - end[position|orientation|time]

base::Trajectory::Trajectory ( const array< Point3 > & points,

const array< Orient > & orients = array< Orient >(),

const array< Time > & times = array< Time >(),

bool deltas = false

)

a set of 'waypoints' - actually points and their corresponding orientations & times. if deltas is true, the arrays are considered to specify the inter-waypoint deltas instead (with the first point/orient being 0)

base::Trajectory::Trajectory ( const array< Vector > & points,

bool deltas = false

)

a set of 'waypoints'. If vector dim is 4, specifies position & time only; dim 7, specifies position and orientation using the EulerRPY (roll, pitch, yaw) convention & time; dim 8 specifies position and orientation as a quaternion qx,qy,qz,qw & time (secs). if deltas is true, the array is considered to specify the inter-waypoint deltas instead (with the first point/orient/time being 0)

base::Trajectory::Trajectory ( const ExpressionVector & p )

arbitrary path defined by symbolic expressions for x,y,z,qx,qy,qz,qw,t in terms of s

Member Function Documentation

virtual String base::Trajectory::className ( ) const [inline, virtual]

return the name of the object's class type. Must be defined by derived classes.
Reimplemented from base::Path.
Definition at line 85 of file Trajectory.
References base::String.

virtual void base::Path::create ( const Path & p ) [protected, virtual, inherited]

virtual void base::Trajectory::create ( const ExpressionVector & p ) [protected, virtual]

Reimplemented from base::Path.

virtual void base::Trajectory::create ( const array< Vector > & points,

bool deltas

) [protected, virtual]

Reimplemented from base::Path.

virtual void base::Trajectory::create ( const array< Point3 > & points,

const array< Orient > & orients,

const array< Time > & times,

bool deltas

) [protected, virtual]

virtual void base::Trajectory::create ( const array< Point3 > & points,

const array< Orient > & orients,

bool deltas

) [protected, virtual]

Reimplemented from base::Path.

virtual void base::Trajectory::create ( const Point3 & sp,

const Orient & so,

const Time & st,

const Point3 & ep,

const Orient & eo,

const Time & et

) [protected, virtual]

virtual void base::Trajectory::create ( const Point3 & sp,

const Orient & so,

const Point3 & ep,

const Orient & eo

) [protected, virtual]

Reimplemented from base::Path.

virtual void base::Trajectory::create ( const Trajectory & t ) [protected, virtual]

virtual void base::Trajectory::create ( ) [protected, virtual]

Reimplemented from base::Path.

Real base::Path::distinguishedValue ( Int i ) const [inline, inherited]

some values of s may correspond to distinguished points along a path. the values s=0 and s=1 are always distinguished values. For example, if the path was specified using waypoints, then there will be a distinguished value of s for each waypoint. 0 <= i < numDistinguishedValues()
Definition at line 114 of file Path.
References base::Int, and base::Real.

virtual void base::Externalizable::externalize ( Externalizer & e,

String format = "",

Real version = 1.0

) const [virtual, inherited]

write object state to Externalizer (throws if e is in Input)

Reimplemented in physics::Box, physics::Capsule, physics::Cone, physics::Cylinder, physics::LODTerrain, physics::Polyhedron, physics::Sphere, robot::KinematicChain::Link, robot::KinematicChain, robot::ManipulatorDescription, robot::PlatformDescription, robot::RobotDescription, robot::sim::SimulatedManipulatorDescription, robot::sim::SimulatedRobotDescription, robot::sim::SimulatedSerialManipulator, robot::sim::SimulatedTool, and robot::ToolDescription.

virtual void base::Trajectory::externalize ( Externalizer & e,

String format = "",

Real version = 1.0

) [virtual]

read or write object state to Externalizer

Reimplemented from base::Path.

virtual bool base::Trajectory::formatSupported ( String format,

Real version = 1.0,

ExternalizationType type = IO

) const [virtual]

query if specific format is supported (for input, output or both)

Reimplemented from base::Path.

const String& base::Path::getCoordFrame ( ) const [inline, inherited]

get application defined coordinate frame specifier. Some means of creating a Path provide a coordinate frame specifier. e.g. xml externalization this returns that string (or whatever was set via setCoordFrame() - defaults to the empty String)
Definition at line 95 of file Path.
References base::Path::frame, and base::String.

const SerializableInstantiator& base::Serializable::getSerializableInstantiator ( const String & baseClassTypeName,

const String & derivedClassTypeName

) [static, inherited]

template<class BaseClass>

const SerializableInstantiator& base::Serializable::getSerializableInstantiator ( const String & derivedClassTypeName ) [inline, static, inherited]

Definition at line 71 of file Serializable.
References base::String.

const String& base::Path::getUnits ( ) const [inline, inherited]

get application defined unit specifier. Some means of creating a Path provide unit specifier. e.g. xml externalization this returns that string (or whatever was set via setUnits() - defaults to the empty String)
Definition at line 104 of file Path.
References base::String, and base::Path::units.

void base::Path::init ( const array< Point3 > & points,

const array< Orient > & orients,

bool deltas

) [protected, inherited]

void base::Trajectory::init ( const array< Point3 > & points,

const array< Orient > & orients,

const array< Time > & times,

bool deltas

) [protected]

virtual bool base::Object::isSameKindAs ( const Object & ) const [inline, virtual, inherited]

Definition at line 47 of file Object.

void base::Externalizable::load ( ref< VFile > archive,

const String & format = "",

Real version = 1.0

) [inherited]

Int base::Path::numDistinguishedValues ( ) const [inline, inherited]

< number of distinguished s values

Definition at line 116 of file Path.
References base::Int.

Orient base::Path::orientation ( Real s ) const [inline, inherited]

get orientation at s:[0..1]

Definition at line 84 of file Path.
References base::Real.

Orient base::Trajectory::orientation ( const Time & t ) const [inline]

get orientation at time t

Definition at line 91 of file Trajectory.
References trep.

Point3 base::Path::position ( Real s ) const [inline, inherited]

get cartesian position at s:[0..1]

Definition at line 81 of file Path.
References base::Point3, and base::Real.

Point3 base::Trajectory::position ( const Time & t ) const [inline]

get cartesian position at time t

Definition at line 88 of file Trajectory.
References base::Point3, and trep.

void base::Serializable::registerSerializableInstantiator ( const String & baseClassTypeName,

const String & derivedClassTypeName,

const SerializableInstantiator & instantiator

) [static, inherited]

template<class BaseClass, class DerivedClass>

void base::Serializable::registerSerializableInstantiator ( const SerializableInstantiator & instantiator ) [inline, static, inherited]

Definition at line 62 of file Serializable.

void base::Trajectory::resample ( const Real dxmax )

add distinguished points as necessary to ensure that distance between the positions of any pair of distinguished points is <= dxmax

Reimplemented from base::Path.

void base::Trajectory::resample ( Int samples = 100 )

discard distinguished points and replace them by 'samples' distingushed points over s=[0..1]

Reimplemented from base::Path.

void base::Path::rotate ( const Quat4 & r ) [inline, inherited]

rotate the path orientation by r

Definition at line 123 of file Path.

void base::Externalizable::save ( ref< VFile > archive,

const String & format = "",

Real version = 1.0

) [inherited]

void base::Path::scalePosition ( Real s ) [inline, inherited]

scale position coords. by s

Definition at line 129 of file Path.
References base::Real.

void base::Trajectory::scaleTime ( Real s ) [inline]

scale time by s

Definition at line 106 of file Trajectory.
References base::Real, and trep.

virtual void base::Trajectory::serialize ( Serializer & s ) [virtual]

read or write object state to Serializer

Reimplemented from base::Path.

void base::Path::setCoordFrame ( const String & coordFrame ) [inline, inherited]

set application defined coordinate frame specifier.

Definition at line 98 of file Path.
References base::Path::frame, and base::String.

void base::Path::setUnits ( const String & unitSpecifier ) [inline, inherited]

set application defined unit specifier.

Definition at line 107 of file Path.
References base::String, and base::Path::units.

void base::Trajectory::shiftTime ( const Time & dt ) [inline]

shift time by dt

Definition at line 103 of file Trajectory.
References trep.

Time base::Trajectory::time ( Real s ) const [inline]

get time at s:[0..1]

Definition at line 94 of file Trajectory.
References base::Real, and trep.

Path base::Trajectory::toPath ( ) const

convert to a Path by discarding time information

void base::Path::transform ( const Matrix4 & m ) [inline, inherited]

transform the path by m

Definition at line 126 of file Path.

void base::Path::translate ( const Vector3 & t ) [inline, inherited]

translate the path position by t

Definition at line 120 of file Path.

Friends And Related Function Documentation

friend class Trajectory [friend, inherited]

Definition at line 156 of file Path.

Member Data Documentation

String base::Path::frame [protected, inherited]

application defined coord. frame specifier

Definition at line 147 of file Path.
Referenced by base::Path::getCoordFrame(), and base::Path::setCoordFrame().

Serializable::SerializableDerivedInstantiator<LineSegPathRep> base::Path::lineSegPathRepInstantiator [protected, inherited]

Definition at line 153 of file Path.

Serializable::SerializableDerivedInstantiator<LineSegTrajectoryRep> base::Trajectory::lineSegTrajectoryRepInstantiator [protected]

Definition at line 134 of file Trajectory.

Serializable::SerializableDerivedInstantiator<ParametricTrajectoryRep> base::Trajectory::parametricTrajectoryRepInstantiator [protected]

Definition at line 136 of file Trajectory.

ref<PathRep> base::Path::rep [protected, inherited]

representation

Definition at line 146 of file Path.

ref<TrajectoryTimeRep> base::Trajectory::trep [protected]

representation

Definition at line 129 of file Trajectory.
Referenced by orientation(), position(), scaleTime(), shiftTime(), and time().

String base::Path::units [protected, inherited]

application defined unit specifier

Definition at line 148 of file Path.
Referenced by base::Path::getUnits(), and base::Path::setUnits().