franky/trajectory_8hpp_source.html

 #pragma once


 #include "aggregated_path.hpp"


 namespace franky {


 struct TrajectoryState {

   double t;


   double s, ds, dds, ddds;

 };


 template<typename PathType>

 struct Trajectory {

   PathType path;


   std::vector<TrajectoryState> states;

 };


 }  // namespace franky

aggregated_path.hpp

franky
Definition: gripper.cpp:3

franky::Trajectory
Definition: trajectory.hpp:16

franky::Trajectory::path
PathType path
Definition: trajectory.hpp:17

franky::Trajectory::states
std::vector< TrajectoryState > states
The trajectory state for each consecutive time step (with delta_time difference of the time parametri...
Definition: trajectory.hpp:20

franky::TrajectoryState
Definition: trajectory.hpp:7

franky::TrajectoryState::ddds
double ddds
Definition: trajectory.hpp:12

franky::TrajectoryState::dds
double dds
Definition: trajectory.hpp:12

franky::TrajectoryState::t
double t
The time i n[s].
Definition: trajectory.hpp:9

franky::TrajectoryState::s
double s
The path position (between 0 and the path length) and its derivatives.
Definition: trajectory.hpp:12

franky::TrajectoryState::ds
double ds
Definition: trajectory.hpp:12