PolyTrajectory Class Reference

Polynomial-optimised trajectory through a sequence of 6DOF waypoints. More...

#include <PolyTrajectory.h>

Inheritance diagram for PolyTrajectory:

Public Member Functions
	PolyTrajectory (const State &origin, const std::vector< Pose > &targets, std::shared_ptr< Trajectory6DOFLimits > vehicle_limits, const std::string &world_frame_id="world_ned", bool needs_angle_unwrapping=true)
	Constructs and plans the trajectory from an origin state to a list of target poses. More...
bool	is_valid () const
	Returns true if trajectory planning succeeded. More...
bool	is_finished (double t) const override
	Returns true if the elapsed time has reached or exceeded the trajectory duration. More...
double	get_progress (double t) const override
	Returns trajectory progress as a fractional segment index. More...
double	get_expected_total_time () const override
	Returns the total planned trajectory duration. More...
int	get_total_num_waypoints () const
	Returns the number of inter-waypoint segments in the trajectory. More...
Public Member Functions inherited from TrajectoryBase
virtual	~TrajectoryBase ()=default
void	start (double t)
	Records the start time of the trajectory. More...
State	get_model (double t, const State &curr_state)
	Returns the desired body-frame state at time t. More...
geometry_msgs::msg::PoseArray	get_visualization_msg (double t, double sample_hz=20.0) const
	Builds a PoseArray message sampling the trajectory for RViz visualisation. More...

Static Public Attributes
static constexpr double	DEFAULT_MIN_SEGMENT_TIME = 0.01
	Minimum segment duration used when inserting constant-position segments (s) More...
static constexpr int	DEFAULT_DERIVATIVE_TO_OPTIMIZE = mav_trajectory_generation::derivative_order::ACCELERATION
	Derivative order minimised by the polynomial optimiser (acceleration) More...

Protected Member Functions
State	get_model_world (double t) const override
	Evaluates the planned polynomial trajectory at the given time. More...
Protected Member Functions inherited from TrajectoryBase
double	get_elapsed_time (double t) const
	Returns elapsed time since start(), or 0 if not yet started. More...

Additional Inherited Members
Protected Attributes inherited from TrajectoryBase
std::shared_ptr< Trajectory6DOFLimits >	vehicle_limits_
	Velocity and acceleration limits for trajectory planning. More...
std::string	world_frame_id_
	TF frame ID embedded in visualisation message headers. More...
bool	started_ = false
	True after start() has been called. More...
double	start_time_ = 0.0
	ROS time at which start() was called. More...

Detailed Description

Polynomial-optimised trajectory through a sequence of 6DOF waypoints.

Uses mav_trajectory_generation to compute a minimum-acceleration polynomial trajectory respecting per-axis velocity and acceleration limits. Consecutive identical waypoints are handled by inserting constant-position segments. Yaw angles are unwrapped across waypoints by default to avoid discontinuities.

Constructor & Destructor Documentation

PolyTrajectory()

PolyTrajectory::PolyTrajectory	(	const State &	origin,
		const std::vector< Pose > &	targets,
		std::shared_ptr< Trajectory6DOFLimits >	vehicle_limits,
		const std::string &	world_frame_id = "world_ned",
		bool	needs_angle_unwrapping = true
	)

Constructs and plans the trajectory from an origin state to a list of target poses.

Parameters

origin	[in] Starting vehicle state (pose, twist used as initial conditions)
targets	[in] Ordered list of goal poses
vehicle_limits	[in] Per-axis velocity and acceleration limits
world_frame_id	[in] TF frame ID for visualisation messages
needs_angle_unwrapping	[in] If true, yaw angles are unwrapped across waypoints

Member Function Documentation

get_expected_total_time()

double PolyTrajectory::get_expected_total_time ( ) const

overridevirtual

Returns the total planned trajectory duration.

Returns

Duration in seconds

Implements TrajectoryBase.

get_model_world()

State PolyTrajectory::get_model_world ( double  t ) const

overrideprotectedvirtual

Evaluates the planned polynomial trajectory at the given time.

Parameters

t	[in] Current ROS time in seconds

Returns

Desired State in the world frame at the given time

Implements TrajectoryBase.

get_progress()

double PolyTrajectory::get_progress ( double  t ) const

overridevirtual

Returns trajectory progress as a fractional segment index.

Parameters

t	[in] Current ROS time in seconds

Returns

Progress where integer values indicate segment boundaries

Implements TrajectoryBase.

get_total_num_waypoints()

int PolyTrajectory::get_total_num_waypoints

(

)

const

Returns the number of inter-waypoint segments in the trajectory.

Returns

Number of segments (total waypoints minus 1)

is_finished()

bool PolyTrajectory::is_finished ( double  t ) const

overridevirtual

Returns true if the elapsed time has reached or exceeded the trajectory duration.

Parameters

t	[in] Current ROS time in seconds

Returns

True when the trajectory is complete

Implements TrajectoryBase.

is_valid()

bool PolyTrajectory::is_valid

(

)

const

Returns true if trajectory planning succeeded.

Returns

True if a valid trajectory was generated

Member Data Documentation

DEFAULT_DERIVATIVE_TO_OPTIMIZE

constexpr int PolyTrajectory::DEFAULT_DERIVATIVE_TO_OPTIMIZE = mav_trajectory_generation::derivative_order::ACCELERATION

staticconstexpr

Derivative order minimised by the polynomial optimiser (acceleration)

DEFAULT_MIN_SEGMENT_TIME

constexpr double PolyTrajectory::DEFAULT_MIN_SEGMENT_TIME = 0.01

staticconstexpr

Minimum segment duration used when inserting constant-position segments (s)

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

• include/trajectory/PolyTrajectory.h
• src/trajectory/PolyTrajectory.cpp