franky::RelativeDynamicsFactor Class Reference

Relative dynamics factors. More...

#include <relative_dynamics_factor.hpp>

Public Member Functions
	RelativeDynamicsFactor ()
	Default constructor which initializes all values to 1.0.
	RelativeDynamicsFactor (double value)
	Constructor which initializes all values to the given value.
	RelativeDynamicsFactor (double velocity, double acceleration, double jerk)
double	velocity () const
	Velocity factor.
double	acceleration () const
	Acceleration factor.
double	jerk () const
	Jerk factor.
bool	max_dynamics () const
	Whether the maximum dynamics should be used.
RelativeDynamicsFactor	operator* (const RelativeDynamicsFactor &other) const

Static Public Member Functions
static RelativeDynamicsFactor	MAX_DYNAMICS ()
	Special factor which causes the maximum dynamics to be used, independent of other factors applied elsewhere.

Detailed Description

Relative dynamics factors.

This class encapsulates the relative dynamics factors, which are used to scale the maximum velocity, acceleration, and jerk of a trajectory.

Constructor & Destructor Documentation

RelativeDynamicsFactor() [1/3]

franky::RelativeDynamicsFactor::RelativeDynamicsFactor

(

)

Default constructor which initializes all values to 1.0.

RelativeDynamicsFactor() [2/3]

franky::RelativeDynamicsFactor::RelativeDynamicsFactor

(

double

value

)

Constructor which initializes all values to the given value.

Parameters

value

The value to initialize all factors with. Must be in the range (0, 1].

RelativeDynamicsFactor() [3/3]

franky::RelativeDynamicsFactor::RelativeDynamicsFactor	(	double	velocity,
		double	acceleration,
		double	jerk
	)

Parameters

velocity	The factor for the velocity. Must be in the range (0, 1].
acceleration	The factor for the acceleration. Must be in the range (0, 1].
jerk	The factor for the jerk. Must be in the range (0, 1].

Member Function Documentation

acceleration()

double franky::RelativeDynamicsFactor::acceleration ( ) const

inline

Acceleration factor.

jerk()

double franky::RelativeDynamicsFactor::jerk ( ) const

inline

Jerk factor.

MAX_DYNAMICS()

static RelativeDynamicsFactor franky::RelativeDynamicsFactor::MAX_DYNAMICS ( )

inlinestatic

Special factor which causes the maximum dynamics to be used, independent of other factors applied elsewhere.

max_dynamics()

bool franky::RelativeDynamicsFactor::max_dynamics ( ) const

inline

Whether the maximum dynamics should be used.

operator*()

RelativeDynamicsFactor franky::RelativeDynamicsFactor::operator*

(

const RelativeDynamicsFactor &

other

)

const

velocity()

double franky::RelativeDynamicsFactor::velocity ( ) const

inline

Velocity factor.

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

• /home/runner/work/franky/franky/include/franky/relative_dynamics_factor.hpp
• /home/runner/work/franky/franky/src/relative_dynamics_factor.cpp