DummyTrajectoryGenerator Class Reference

Example Implementation of TrajectoryGenerator. Includes only two trajectories (Sit-to-Stand and Stand-to-sit) for an Exoskeleton. More...

#include <DummyTrajectoryGenerator.h>

Inheritance diagram for DummyTrajectoryGenerator:

Collaboration diagram for DummyTrajectoryGenerator:

Public Member Functions
	DummyTrajectoryGenerator (int NumOfJoints)
bool	initialiseTrajectory ()
	Implementation of the initialiseTrajectory method in TrajectoryGenerator. More...
bool	initialiseTrajectory (Trajectory traj, double time)
std::vector< double >	getSetPoint (double time)
	Implementation of the getSetPoint method in TrajectoryGenerator. More...
bool	isTrajectoryFinished ()
	Check if the trajectory has been completed based on last elapsed time. More...
Public Member Functions inherited from TrajectoryGenerator
	TrajectoryGenerator ()

Private Attributes
std::vector< double[2]>	endPoints
Trajectory	currTraj = SIT
double	trajTime = 2
int	numJoints = 6
double	lastProgress = 0

Detailed Description

Example Implementation of TrajectoryGenerator. Includes only two trajectories (Sit-to-Stand and Stand-to-sit) for an Exoskeleton.

Definition at line 35 of file DummyTrajectoryGenerator.h.

Constructor & Destructor Documentation

DummyTrajectoryGenerator::DummyTrajectoryGenerator

(

int

NumOfJoints

)

Definition at line 17 of file DummyTrajectoryGenerator.cpp.

Member Function Documentation

std::vector< double > DummyTrajectoryGenerator::getSetPoint ( double  time )

virtual

Implementation of the getSetPoint method in TrajectoryGenerator.

Parameters

time	The time corresponding to the point.

Returns

vector<double>

Implements TrajectoryGenerator.

Definition at line 43 of file DummyTrajectoryGenerator.cpp.

bool DummyTrajectoryGenerator::initialiseTrajectory ( )

virtual

Implementation of the initialiseTrajectory method in TrajectoryGenerator.

Returns

true

false

Implements TrajectoryGenerator.

Definition at line 21 of file DummyTrajectoryGenerator.cpp.

bool DummyTrajectoryGenerator::initialiseTrajectory	(	Trajectory	traj,
		double	time
	)

Definition at line 31 of file DummyTrajectoryGenerator.cpp.

bool DummyTrajectoryGenerator::isTrajectoryFinished

(

)

Check if the trajectory has been completed based on last elapsed time.

Returns

true if trajectory has been completed

false if trajectory has not been completed

Definition at line 68 of file DummyTrajectoryGenerator.cpp.

Member Data Documentation

Trajectory DummyTrajectoryGenerator::currTraj = SIT

private

Definition at line 38 of file DummyTrajectoryGenerator.h.

std::vector<double[2]> DummyTrajectoryGenerator::endPoints

private

Definition at line 37 of file DummyTrajectoryGenerator.h.

double DummyTrajectoryGenerator::lastProgress = 0

private

Definition at line 41 of file DummyTrajectoryGenerator.h.

int DummyTrajectoryGenerator::numJoints = 6

private

Definition at line 40 of file DummyTrajectoryGenerator.h.

double DummyTrajectoryGenerator::trajTime = 2

private

Definition at line 39 of file DummyTrajectoryGenerator.h.

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

• Refactor/src/apps/DummyTrajectoryGenerator.h
• Refactor/src/apps/DummyTrajectoryGenerator.cpp