traj.h File Reference

#include "state.h"

Go to the source code of this file.

Classes
struct	aa_ct_pt
	Waypoint. More...

Macros
#define	AA_CT_SEG_IN   1
#define	AA_CT_SEG_OUT   0
#define	AA_CT_LIN_SEG   1
#define	AA_CT_PB_SEG   2
#define	AA_CT_ACCL_SEG   3

Functions
struct aa_ct_pt_list *	aa_ct_pt_list_create (struct aa_mem_region *reg)
	Initialize and construct a point list from a memory region. More...
void	aa_ct_pt_list_add (struct aa_ct_pt_list *list, struct aa_ct_state *state)
	Add a reference to a waypoint to the back of a point list. More...
void	aa_ct_pt_list_add_front (struct aa_ct_pt_list *list, struct aa_ct_state *state)
	Add a reference to a waypoint to the front of a point list. More...
void	aa_ct_pt_list_add_qutr (struct aa_ct_pt_list *list, const double E[7])
	Add a quaternion-translation pose to the point list.
void	aa_ct_pt_list_add_q (struct aa_ct_pt_list *list, size_t n_q, const double *q)
	Add a quaternion-translation position the point list.
void	aa_ct_pt_list_destroy (struct aa_ct_pt_list *list)
	Destroys an allocated point list. More...
const struct aa_ct_state *	aa_ct_pt_list_start_state (const struct aa_ct_pt_list *list)
	Return the initial state of the point list.
const struct aa_ct_state *	aa_ct_pt_list_final_state (const struct aa_ct_pt_list *list)
	Return the final state of the point list.
size_t	aa_ct_pt_list_size (const struct aa_ct_pt_list *list)
	Return the number of points in the point list.
void	aa_ct_pt_list_dump (FILE *stream, struct aa_ct_pt_list *list)
	Print out a list of points to a file. More...
int	aa_ct_seg_list_eval (struct aa_ct_seg_list *list, struct aa_ct_state *state, double t)
	Evaluates a segment list at a given time. More...
int	aa_ct_seg_list_eval_q (struct aa_ct_seg_list *list, double t, size_t n, double *q)
	Evaluate trajectory and fill configuration array.
int	aa_ct_seg_list_eval_dq (struct aa_ct_seg_list *list, double t, size_t n, double *q, double *dq)
	Evaluate trajectory and fill configuration and velocity arrays.
void	aa_ct_seg_list_plot (struct aa_ct_seg_list *list, size_t n_q, double dt)
	Plots a segment list with a given resolution. More...
void	aa_ct_seg_list_destroy (struct aa_ct_seg_list *list)
	Destroys an allocated segment list. More...
size_t	aa_ct_seg_list_n_q (const struct aa_ct_seg_list *list)
	Return segment list configuration count.
double	aa_ct_seg_list_duration (const struct aa_ct_seg_list *list)
	Return duration (time) of segment list.
struct aa_ct_seg_list *	aa_ct_tjq_pb_generate (struct aa_mem_region *reg, struct aa_ct_pt_list *list, struct aa_ct_limit *limits)
	Generate a parabolic blend trajectory from a point list. More...
struct aa_ct_seg_list *	aa_ct_tjq_trap_generate (struct aa_mem_region *reg, struct aa_ct_pt_list *list, struct aa_ct_limit *limits)
	Generate a trapezoidal blend trajectory from a point list. More...
struct aa_ct_seg_list *	aa_ct_tjq_lin_generate (struct aa_mem_region *reg, struct aa_ct_pt_list *list, struct aa_ct_limit *limits)
	Generate a linear trajectory from a point list. More...
struct aa_ct_seg_list *	aa_ct_tjX_pb_generate (struct aa_mem_region *reg, struct aa_ct_pt_list *list, struct aa_ct_limit *limits)
	Generate a parabolic blend trajectory in the workspace from a point list. More...
int	aa_ct_seg_list_check (struct aa_ct_seg_list *segs, double dt, int(*function)(void *cx, double t, const struct aa_ct_state *state), void *cx)
	Check the trajectory by evaluting function at points along the trajectory. More...
int	aa_ct_seg_list_check_c0 (struct aa_ct_seg_list *segs, double dt, double tol, double eps)
	Check C0 (position) continuity of the trajectory. More...
struct aa_ct_seg_list *	aa_ct_tjx_slerp_generate (struct aa_mem_region *reg, struct aa_ct_pt_list *list)
	Generate a SLERP trajectory from a point list. More...

Function Documentation

aa_ct_pt_list_add()

void aa_ct_pt_list_add	(	struct aa_ct_pt_list *	list,
		struct aa_ct_state *	state
	)

Add a reference to a waypoint to the back of a point list.

The reference will be kept in the list.

Parameters

list	List to add point to
state	State to add to list

aa_ct_pt_list_add_front()

void aa_ct_pt_list_add_front	(	struct aa_ct_pt_list *	list,
		struct aa_ct_state *	state
	)

Add a reference to a waypoint to the front of a point list.

The reference will be kept in the list.

Parameters

list	List to add point to
state	State to add to list

aa_ct_pt_list_create()

struct aa_ct_pt_list* aa_ct_pt_list_create

(

struct aa_mem_region *

reg

)

Initialize and construct a point list from a memory region.

Parameters

reg	Memory region to allocate from

Returns

A freshly allocated struct aa_ct_pt_list.

aa_ct_pt_list_destroy()

void aa_ct_pt_list_destroy

(

struct aa_ct_pt_list *

list

)

Destroys an allocated point list.

Parameters

list	List to destroy

aa_ct_pt_list_dump()

void aa_ct_pt_list_dump	(	FILE *	stream,
		struct aa_ct_pt_list *	list
	)

Print out a list of points to a file.

Parameters

stream	File to print to
list	Point list to print

aa_ct_seg_list_check()

int aa_ct_seg_list_check	(	struct aa_ct_seg_list *	segs,
		double	dt,
		int(*)(void *cx, double t, const struct aa_ct_state *state)	function,
		void *	cx
	)

Check the trajectory by evaluting function at points along the trajectory.

Parameters

segs	The segment list to check
dt	Time intervel between steps to check
function	Function to check a state, must return 0 if state is valid

Returns

0 if trajectory is valid (function evaluates to zero at each point), otherwise return the return value of function at the non-zero point

aa_ct_seg_list_check_c0()

int aa_ct_seg_list_check_c0	(	struct aa_ct_seg_list *	segs,
		double	dt,
		double	tol,
		double	eps
	)

Check C0 (position) continuity of the trajectory.

Parameters

segs	The segment list to check
dt	Time intervel between steps
tol	Maximum distance between two steps
eps	Maximum distance between final and inital position of subsequent segments

Returns

0 if trajectory is C0 continuous, 1 if the trajectory violates the maximum distance between two steps, 2 if the trajectory violates the maximum distance between final and initial of subsequent segments, non-zero otherwise

aa_ct_seg_list_destroy()

void aa_ct_seg_list_destroy

(

struct aa_ct_seg_list *

list

)

Destroys an allocated segment list.

Parameters

list	List to destroy

aa_ct_seg_list_eval()

int aa_ct_seg_list_eval	(	struct aa_ct_seg_list *	list,
		struct aa_ct_state *	state,
		double	t
	)

Evaluates a segment list at a given time.

Fills in the provided state struct With the reference state at that time.

Parameters

list	Segment list to evaluate
state	State structure to fill in
t	Time to evaluate segment list at

Returns

AA_CT_SEG_IN if time is within segment list, AA_CT_SEG_OUT if not.

aa_ct_seg_list_plot()

void aa_ct_seg_list_plot	(	struct aa_ct_seg_list *	list,
		size_t	n_q,
		double	dt
	)

Plots a segment list with a given resolution.

Pipes commands to gnuplot.

Parameters

list	Segment list to plot
n_q	Number of configurations
dt	Timestep to plot

aa_ct_tjq_lin_generate()

struct aa_ct_seg_list* aa_ct_tjq_lin_generate	(	struct aa_mem_region *	reg,
		struct aa_ct_pt_list *	list,
		struct aa_ct_limit *	limits
	)

Generate a linear trajectory from a point list.

Parameters

reg	Region to allocate from
list	Point list to build segment list from
limits	State structure with dq and ddq kinematic limits

Returns

An allocated segment list describing a linear trajectory.

aa_ct_tjq_pb_generate()

struct aa_ct_seg_list* aa_ct_tjq_pb_generate	(	struct aa_mem_region *	reg,
		struct aa_ct_pt_list *	list,
		struct aa_ct_limit *	limits
	)

Generate a parabolic blend trajectory from a point list.

Parameters

reg	Region to allocate from
list	Point list to build segment list from
limits	State structure with dq and ddq kinematic limits

Returns

An allocated segment list describing a parabolic blend trajectory.

aa_ct_tjq_trap_generate()

struct aa_ct_seg_list* aa_ct_tjq_trap_generate	(	struct aa_mem_region *	reg,
		struct aa_ct_pt_list *	list,
		struct aa_ct_limit *	limits
	)

Generate a trapezoidal blend trajectory from a point list.

Parameters

reg	Region to allocate from
list	Point list to build segment list from
limits	State structure with dq and ddq kinematic limits

Returns

An allocated segment list describing a trapezoidal blend trajectory.

aa_ct_tjX_pb_generate()

struct aa_ct_seg_list* aa_ct_tjX_pb_generate	(	struct aa_mem_region *	reg,
		struct aa_ct_pt_list *	list,
		struct aa_ct_limit *	limits
	)

Generate a parabolic blend trajectory in the workspace from a point list.

Parameters

reg	Region to allocate from
list	Point list to build segment list from
limits	State structure with dq and ddq kinematic limits

Returns

An allocated segment list describing a parabolic blend trajectory.

aa_ct_tjx_slerp_generate()

struct aa_ct_seg_list* aa_ct_tjx_slerp_generate	(	struct aa_mem_region *	reg,
		struct aa_ct_pt_list *	list
	)

Generate a SLERP trajectory from a point list.

Parameters

reg	Region to allocate from
list	Point list to build segment list from

Returns

An allocated segment list describing a slerp trajectory.