tesseract_visualization::TrajectoryPlayer Class Reference

Enables the ability to play a trajectory provided by the set program. More...

#include <trajectory_player.h>

Collaboration diagram for tesseract_visualization::TrajectoryPlayer:

Public Member Functions
	TrajectoryPlayer ()=default
void	setTrajectory (const tesseract_common::JointTrajectory &trajectory)
	Set the the trajectory for the trajectory player. More...
void	setScale (double scale)
	Set the scale factor for the play back of the trajectory. More...
tesseract_common::JointState	setCurrentDurationByIndex (long index)
	Set the current time for the player by index of the input trajectoy. More...
tesseract_common::JointState	setCurrentDuration (double duration)
	Set the current time for the player by duration. More...
tesseract_common::JointState	getNext ()
	Get the next move instruction from the player. More...
tesseract_common::JointState	getByIndex (long index) const
	Get move instruction by index. More...
double	currentDuration () const
	Get the current duration populated by the last call to getNext() More...
double	trajectoryDuration () const
	Get the trajectory duration. More...
bool	isFinished () const
	Check if the player has the reached the end of the trajectory. More...
void	enableLoop (bool loop)
	Enable looping playback of the trajectory. More...
bool	isLoopEnabled () const
	Get if looping playback is enabled. More...
void	reset ()
	Reset the state of the trajectory player. More...
long	size () const
	The size of the tajectory. More...

Private Attributes
TrajectoryInterpolator::UPtr	trajectory_ { nullptr }
double	trajectory_duration_ { 0 }
double	current_duration_ { 0 }
double	scale_ { 1 }
bool	loop_ { false }
bool	finished_ { false }
std::chrono::time_point< std::chrono::high_resolution_clock >	start_time_

Detailed Description

Enables the ability to play a trajectory provided by the set program.

Constructor & Destructor Documentation

TrajectoryPlayer()

tesseract_visualization::TrajectoryPlayer::TrajectoryPlayer ( )

default

Member Function Documentation

currentDuration()

double tesseract_visualization::TrajectoryPlayer::currentDuration

(

)

const

Get the current duration populated by the last call to getNext()

Returns

The current duration

enableLoop()

void tesseract_visualization::TrajectoryPlayer::enableLoop

(

bool

loop

)

Enable looping playback of the trajectory.

Parameters

loop	True to enable looping play, otherwise single playback.

getByIndex()

tesseract_common::JointState tesseract_visualization::TrajectoryPlayer::getByIndex

(

long

index

)

const

Get move instruction by index.

Parameters

index

The index of the input program to extract the move instruction from

Returns

The move instruction at the input index

getNext()

tesseract_common::JointState tesseract_visualization::TrajectoryPlayer::getNext

(

)

Get the next move instruction from the player.

Returns

The move instruction at the next time interval

isFinished()

bool tesseract_visualization::TrajectoryPlayer::isFinished

(

)

const

Check if the player has the reached the end of the trajectory.

Returns

True if end has been reached, otherwise false.

isLoopEnabled()

bool tesseract_visualization::TrajectoryPlayer::isLoopEnabled

(

)

const

Get if looping playback is enabled.

Returns

True if looping playback is enabled otherwise false.

reset()

void tesseract_visualization::TrajectoryPlayer::reset

(

)

Reset the state of the trajectory player.

setCurrentDuration()

tesseract_common::JointState tesseract_visualization::TrajectoryPlayer::setCurrentDuration

(

double

duration

)

Set the current time for the player by duration.

Parameters

duration

The duration for which to set the current time from

Returns

The trajectory state at the provided duration

setCurrentDurationByIndex()

tesseract_common::JointState tesseract_visualization::TrajectoryPlayer::setCurrentDurationByIndex

(

long

index

)

Set the current time for the player by index of the input trajectoy.

Parameters

index

The input trajectory index for which to set the current time from

Returns

The trajectory state at the input trajectory index

setScale()

void tesseract_visualization::TrajectoryPlayer::setScale

(

double

scale

)

Set the scale factor for the play back of the trajectory.

Parameters

scale

The scale playback of the trajectory

setTrajectory()

void tesseract_visualization::TrajectoryPlayer::setTrajectory

(

const tesseract_common::JointTrajectory &

trajectory

)

Set the the trajectory for the trajectory player.

Parameters

program

The trajectory to play

size()

long tesseract_visualization::TrajectoryPlayer::size

(

)

const

The size of the tajectory.

trajectoryDuration()

double tesseract_visualization::TrajectoryPlayer::trajectoryDuration

(

)

const

Get the trajectory duration.

Returns

The trajectory duration

Member Data Documentation

current_duration_

double tesseract_visualization::TrajectoryPlayer::current_duration_ { 0 }

private

finished_

bool tesseract_visualization::TrajectoryPlayer::finished_ { false }

private

loop_

bool tesseract_visualization::TrajectoryPlayer::loop_ { false }

private

scale_

double tesseract_visualization::TrajectoryPlayer::scale_ { 1 }

private

start_time_

std::chrono::time_point<std::chrono::high_resolution_clock> tesseract_visualization::TrajectoryPlayer::start_time_

private

trajectory_

TrajectoryInterpolator::UPtr tesseract_visualization::TrajectoryPlayer::trajectory_ { nullptr }

private

trajectory_duration_

double tesseract_visualization::TrajectoryPlayer::trajectory_duration_ { 0 }

private

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

• tesseract_visualization/include/tesseract_visualization/trajectory_player.h
• tesseract_visualization/src/trajectory_player.cpp