HLR::Kinematics::Planners::InterpolatingAnglePlanner Class Reference

Abstract class that forces. More...

#include <InterpolatingAnglePlanner.hpp>

Inheritance diagram for HLR::Kinematics::Planners::InterpolatingAnglePlanner:

Collaboration diagram for HLR::Kinematics::Planners::InterpolatingAnglePlanner:

Public Member Functions
	~InterpolatingAnglePlanner () override=default
	Pure virtual destructor.
	InterpolatingAnglePlanner (const InterpolatingAnglePlanner &p)=delete
	Copy constructor, deleted. More...
	InterpolatingAnglePlanner (InterpolatingAnglePlanner &&p)=delete
	Move constructor, deleted. More...
InterpolatingAnglePlanner &	operator= (const InterpolatingAnglePlanner &p)=delete
	Copy assignment operator, deleted. More...
InterpolatingAnglePlanner &	operator= (InterpolatingAnglePlanner &&p)=delete
	Move assignment operator, deleted. More...
	InterpolatingAnglePlanner (double max_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...
Public Member Functions inherited from HLR::Kinematics::Planners::Planner
	Planner ()=default
	Constructor.
virtual	~Planner ()=default
	Pure virtual destructor.
	Planner (const Planner &p)=delete
	Copy constructor, deleted. More...
	Planner (Planner &&p)=delete
	Move constructor, deleted. More...
Planner &	operator= (const Planner &p)=delete
	Copy assignment operator, deleted. More...
Planner &	operator= (Planner &&p)=delete
	Move assignment operator, deleted. More...

Detailed Description

Abstract class that forces.

Constructor & Destructor Documentation

HLR::Kinematics::Planners::InterpolatingAnglePlanner::InterpolatingAnglePlanner ( const InterpolatingAnglePlanner &  p )

delete

Copy constructor, deleted.

Parameters

p

HLR::Kinematics::Planners::InterpolatingAnglePlanner::InterpolatingAnglePlanner ( InterpolatingAnglePlanner &&  p )

delete

Move constructor, deleted.

Parameters

p

HLR::Kinematics::Planners::InterpolatingAnglePlanner::InterpolatingAnglePlanner

(

double

max_step_size

)

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

Parameters

max_step_size

The maximum stepsize each servo will rotate in degrees per step. if there is a difference between how far servos have to move the step_size will be scaled linearly.

Member Function Documentation

const std::optional<std::vector<Matrix<double, 5, 1> > > HLR::Kinematics::Planners::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

Implements HLR::Kinematics::Planners::Planner.

InterpolatingAnglePlanner& HLR::Kinematics::Planners::InterpolatingAnglePlanner::operator= ( const InterpolatingAnglePlanner &  p )

delete

Copy assignment operator, deleted.

Parameters

p

Returns

InterpolatingAnglePlanner& HLR::Kinematics::Planners::InterpolatingAnglePlanner::operator= ( InterpolatingAnglePlanner &&  p )

delete

Move assignment operator, deleted.

Parameters

p

Returns

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

• src/Kinematics/Planners/InterpolatingAnglePlanner.hpp