Description

Interpolate a list of 3D waypoints with assigned geometric and time motion functions.

#include <TrajectoryInterpolator.h>

Inherits chrono::industrial::TrajectoryInterpolator.

Public Types
enum	PosfunType { LINE, BSPLINE2, BEZIER }
	Type of geometric position function used to define trajectory.

enum	RotfunType { BSPLINE1, BSPLINE2, SQUAD }
	Type of geometric rotation function used to define trajectory.

enum	SpacefunType { LINEAR, POLY345, CONSTACC, CYCLOIDAL, PW_LINEAR, PW_POLY345, PW_CONSTACC, PW_CYCLOIDAL }
	Type of space function used to evaluate geometric functions. More...

Public Member Functions
	TrajectoryInterpolatorOperationSpace ()
	Default constructor.

virtual	~TrajectoryInterpolatorOperationSpace ()
	Default destructor.

	TrajectoryInterpolatorOperationSpace (const std::vector< ChCoordsysd > &waypoints, double motion_time_tot, PosfunType posfun_type, SpacefunType pos_spacefun_type, RotfunType rotfun_type, SpacefunType rot_spacefun_type, std::vector< double > *durations=nullptr)
	Create a trajectory interpolator from given operation-space waypoints and total motion time. More...

void	Setup (const std::vector< ChCoordsysd > &waypoints, double motion_time_tot, PosfunType posfun_type, SpacefunType pos_spacefun_type, RotfunType rotfun_type, SpacefunType rot_spacefun_type, std::vector< double > *durations=nullptr)
	Setup interpolator internal data. More...

ChCoordsysd	GetInterpolation (double time) const
	Get interpolation pose of trajectory, at given time.

virtual void	SetDurations (const std::vector< double > &durations) override
	Set individual times to travel each part of the trajectory. More...

std::shared_ptr< ChFunctionPositionLine >	GetPositionFunction () const
	Get geometric position function.

std::shared_ptr< ChFunctionRotation >	GetRotationFunction () const
	Get geometric rotation function.

std::shared_ptr< ChFunctionSequence >	GetPositionSpaceFunction () const
	Get position evaluation function.

std::shared_ptr< ChFunctionSequence >	GetRotationSpaceFunction () const
	Get rotation evaluation function.

std::vector< ChVector3d >	GetPositions () const
	Get input waypoints positions.

std::vector< ChQuaterniond >	GetRotations () const
	Get input waypoints rotations.

Member Enumeration Documentation

◆ SpacefunType

enum chrono::industrial::TrajectoryInterpolatorOperationSpace::SpacefunType

strong

Type of space function used to evaluate geometric functions.

Two categories available:

single shot: interpolate whole trajectory with a single function
piecewise: interpolate individual trajectory parts with dedicated functions

Constructor & Destructor Documentation

◆ TrajectoryInterpolatorOperationSpace()

chrono::industrial::TrajectoryInterpolatorOperationSpace::TrajectoryInterpolatorOperationSpace	(	const std::vector< ChCoordsysd > &	waypoints,
		double	motion_time_tot,
		PosfunType	posfun_type,
		SpacefunType	pos_spacefun_type,
		RotfunType	rotfun_type,
		SpacefunType	rot_spacefun_type,
		std::vector< double > *	durations = `nullptr`
	)

Create a trajectory interpolator from given operation-space waypoints and total motion time.

Trajectory is defined by given geometric position and rotation functions, which are evaluated in time through provided space functions. Individual times to travel each part of the trajectory

can be manually defined by the user: in this case, their sum must equal total motion time parameter
can be skipped: in this case, durations are automatically computed as weighted average of total path length

Parameters

waypoints	input trajectory waypoints
motion_time_tot	total time to complete trajectory
posfun_type	type of geometric position function
pos_spacefun_type	type of space function used to evaluate position
rotfun_type	type of geometric rotation function
rot_spacefun_type	type of space function used to evaluate rotation
durations	times to travel individual trajectory parts; autocompute if empty

Member Function Documentation

◆ SetDurations()

void chrono::industrial::TrajectoryInterpolatorOperationSpace::SetDurations ( const std::vector< double > & durations )

overridevirtual

Set individual times to travel each part of the trajectory.

NB: needs manual call to Setup() to have effect.

◆ Setup()

void chrono::industrial::TrajectoryInterpolatorOperationSpace::Setup	(	const std::vector< ChCoordsysd > &	waypoints,
		double	motion_time_tot,
		PosfunType	posfun_type,
		SpacefunType	pos_spacefun_type,
		RotfunType	rotfun_type,
		SpacefunType	rot_spacefun_type,
		std::vector< double > *	durations = `nullptr`
	)

Setup interpolator internal data.

NB: must to be manually called after settings are changed.