base::JointsTrajectory Struct Reference

Holds a time-series of JointStates for multiple joints. More...

#include <JointsTrajectory.hpp>

Inheritance diagram for base::JointsTrajectory:

Classes
struct	InvalidTimeStep

Public Member Functions
bool	isValid () const
void	resize (int num_joints, int num_samples)
void	resize (int num_joints)
void	getJointsAtTimeStep (size_t time_step, base::samples::Joints &joints)
	Extracts the base::samples::Joints structure at a given time step. More...
bool	isTimed () const
size_t	getTimeSteps () const
size_t	getNumberOfJoints () const
base::Time	getDuration () const
Public Member Functions inherited from base::NamedVector< JointTrajectory >
bool	hasNames () const
const JointTrajectory &	getElementByName (std::string name) const
const JointTrajectory &	operator[] (std::string name) const
JointTrajectory &	operator[] (std::string name)
const JointTrajectory &	operator[] (size_t index) const
JointTrajectory &	operator[] (size_t index)
void	resize (size_t size)
size_t	size () const
bool	empty () const
void	clear ()
size_t	mapNameToIndex (std::string const &name) const

Public Attributes
std::vector< base::Time >	times
	optional array of time values corresponding to the samples of the JointState More...
Public Attributes inherited from base::NamedVector< JointTrajectory >
std::vector< std::string >	names
std::vector< JointTrajectory >	elements

Detailed Description

Holds a time-series of JointStates for multiple joints.

This structure holds a time-series in the form of std::vector of JointState, for multiple optionally named joints.

The time series can have optional time information attached to each sample in the series through the times member.

For the data-type to be valid, the length of each time series needs to be the same for all joints. The times vector needs to be either empty or also of that size

How to access the state of a joint at a given sample: elements[joint_index][sample_number] The first index corresponds to the indices in the name vector. Second index to the time step.

Member Function Documentation

getDuration()

Time base::JointsTrajectory::getDuration

(

)

const

Returns

the total duration of the time series if time information is available

getJointsAtTimeStep()

void base::JointsTrajectory::getJointsAtTimeStep	(	size_t	time_step,
		base::samples::Joints &	joints
	)

Extracts the base::samples::Joints structure at a given time step.

Parameters

joints

extracted base::samples::Joints will be stored here

Exceptions

InvalidTimeStep

if the given time_step does not exist in the trajectory.

getNumberOfJoints()

size_t base::JointsTrajectory::getNumberOfJoints

(

)

const

Returns

the number of joints in the trajectory

getTimeSteps()

size_t base::JointsTrajectory::getTimeSteps

(

)

const

Returns

the number of time steps in the trajectory

isTimed()

bool base::JointsTrajectory::isTimed

(

)

const

Returns

true if the JointState series has timing information

isValid()

bool base::JointsTrajectory::isValid

(

)

const

Returns

true if the structure is valid

resize() [1/2]

void base::JointsTrajectory::resize	(	int	num_joints,
		int	num_samples
	)

resize() [2/2]

void base::JointsTrajectory::resize

(

int

num_joints

)

Member Data Documentation

times

std::vector<base::Time> base::JointsTrajectory::times

optional array of time values corresponding to the samples of the JointState

This vector needs to be either empty or the same size as each of the std::vector<JointState> in the elements vector.

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

• /home/dfki.uni-bremen.de/roehr/workspace/2maz/dev/base/types/src/JointsTrajectory.hpp
• /home/dfki.uni-bremen.de/roehr/workspace/2maz/dev/base/types/src/JointsTrajectory.cpp