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C++ Trajectory::getDimension方法代码示例

本文整理汇总了C++中Trajectory::getDimension方法的典型用法代码示例。如果您正苦于以下问题:C++ Trajectory::getDimension方法的具体用法?C++ Trajectory::getDimension怎么用?C++ Trajectory::getDimension使用的例子?那么恭喜您, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在Trajectory的用法示例。


在下文中一共展示了Trajectory::getDimension方法的1个代码示例,这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞,您的评价将有助于系统推荐出更棒的C++代码示例。

示例1: generateMinJerkTrajectory

bool MathHelper::generateMinJerkTrajectory(const yarp::sig::Vector &start, const yarp::sig::Vector &goal, const double duration,
        const double deltaT, Trajectory &trajectory)
{
    int trajectoryDimension = trajectory.getDimension();

    if ((trajectoryDimension % POS_VEL_ACC) != 0)
    {
        printf("ERROR: Trajectory dimension (%i) must be a multiple of 3 to contain position, velocity, and acceleration information for each trace.\n",
               trajectoryDimension);
        return false;
    }
    trajectoryDimension /= POS_VEL_ACC;

    if ((trajectoryDimension != start.size()) || (trajectoryDimension != goal.size()))
    {
        printf("ERROR: Trajectory dimension (%i), does not match start (%i) and goal (%i).\n", trajectoryDimension, start.size(), goal.size());
        return false;
    }
    trajectory.clear();

    int numSteps = static_cast<int> (duration / deltaT);

    yarp::sig::Vector tmpCurrent = yarp::math::zeros(POS_VEL_ACC);
    yarp::sig::Vector tmpGoal = yarp::math::zeros(POS_VEL_ACC);
    yarp::sig::Vector tmpNext = yarp::math::zeros(POS_VEL_ACC);
    yarp::sig::Vector next = yarp::math::zeros(trajectoryDimension * POS_VEL_ACC);
    Eigen::VectorXd eigenNext;

    //add first trajectory point
    for (int j = 0; j < trajectoryDimension; j++)
    {
        next(j * POS_VEL_ACC + 0) = start(j);
        next(j * POS_VEL_ACC + 1) = 0;
        next(j * POS_VEL_ACC + 2) = 0;
    }

    yarpToEigenVector(next, eigenNext);
    if (!trajectory.add(eigenNext))
    {
        printf("ERROR: Could not add first trajectory point.\n");
        return false;
    }

    for (int i = 1; i < numSteps; i++)
    {
        for (int j = 0; j < trajectoryDimension; j++)
        {
            if (i == 1)
            {
                tmpCurrent(0) = start(j);
            }
            else
            {
                //update the current state
                for (int k = 0; k < POS_VEL_ACC; k++)
                {
                    tmpCurrent(k) = next(j * POS_VEL_ACC + k);
                }
            }
            tmpGoal(0) = goal(j);

            if (!MathHelper::calculateMinJerkNextStep(tmpCurrent, tmpGoal, duration - ((i - 1) * deltaT), deltaT, tmpNext))
            {
                printf("ERROR: Could not compute next minimum jerk trajectory point.\n");
                return false;
            }

            for (int k = 0; k < POS_VEL_ACC; k++)
            {
                next(j * POS_VEL_ACC + k) = tmpNext(k);
            }
        }

        yarpToEigenVector(next, eigenNext);
        if (!trajectory.add(eigenNext))
        {
            printf("ERROR: Could not add next trajectory point.\n");
            return false;
        }
    }

    if(!trajectory.writeTrajectoryToFile("data/minJerkTrajectory.txt")) return false;

    return true;
}
开发者ID:xufango,项目名称:contrib_bk,代码行数:85,代码来源:mathHelper.cpp


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