Abstract class that forces. More...

Inheritance diagram for HLR::Kinematics::InterpolatingAnglePlanner:

Collaboration diagram for HLR::Kinematics::InterpolatingAnglePlanner:

Public Member Functions
	InterpolatingAnglePlanner (double step_size)
	Create a simple interpolating planner that simply interpolates the angles form the current_state to the target_state. More...

const std::optional< std::vector< Matrix< double, 5, 1 > > >	get_path (const Matrix< double, 5, 1 > &current_state, const Matrix< double, 3, 1 > &target_pos) const override
	Calculate a path between a start position and the target position. More...

Detailed Description

Abstract class that forces.

Constructor & Destructor Documentation

HLR::Kinematics::InterpolatingAnglePlanner::InterpolatingAnglePlanner ( double step_size )

Create a simple interpolating planner that simply interpolates the angles form the current_state to the target_state.

Parameters

step_size The stepsize each servo will rotate in degree per step.

const std::optional<std::vector<Matrix<double, 5, 1> > > HLR::Kinematics::InterpolatingAnglePlanner::get_path	(	const Matrix< double, 5, 1 > &	current_state,
		const Matrix< double, 3, 1 > &	target_pos
	)		const

overridevirtual

Calculate a path between a start position and the target position.

Parameters

current_state	The current state each joint of the robot arm has.
target_pos	The target position that has to be reached.

Returns: A vector containing valid robot arm states intermediates to reach the target position

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