From 80509a844df5ab3d933c362663af6cd7a3ac3996 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Fri, 7 Jan 2022 13:38:08 +0100
Subject: [PATCH] core: trajectory method: duration
---
source/armarx/navigation/core/Trajectory.cpp | 10 ++++++++++
source/armarx/navigation/core/Trajectory.h | 4 +++-
2 files changed, 13 insertions(+), 1 deletion(-)
diff --git a/source/armarx/navigation/core/Trajectory.cpp b/source/armarx/navigation/core/Trajectory.cpp
index cfacb438..de68a826 100644
--- a/source/armarx/navigation/core/Trajectory.cpp
+++ b/source/armarx/navigation/core/Trajectory.cpp
@@ -26,6 +26,7 @@
#include <VirtualRobot/math/Helpers.h>
#include <VirtualRobot/math/LinearInterpolatedPose.h>
+#include "ArmarXCore/core/exceptions/LocalException.h"
#include "ArmarXCore/core/exceptions/local/ExpressionException.h"
#include <ArmarXCore/core/logging/Logging.h>
@@ -566,4 +567,13 @@ namespace armarx::navigation::core
{
return pts;
}
+
+
+ float
+ Trajectory::duration(const core::VelocityInterpolation interpolation) const
+ {
+ throw LocalException("not implemented yet");
+ return 0; // FIXME
+ }
+
} // namespace armarx::navigation::core
diff --git a/source/armarx/navigation/core/Trajectory.h b/source/armarx/navigation/core/Trajectory.h
index b1c727f3..4183d1cc 100644
--- a/source/armarx/navigation/core/Trajectory.h
+++ b/source/armarx/navigation/core/Trajectory.h
@@ -32,7 +32,7 @@ namespace armarx::navigation::core
struct TrajectoryPoint
{
Waypoint waypoint;
- float velocity;
+ float velocity; // [mm/s]
};
using TrajectoryPoints = std::vector<TrajectoryPoint>;
@@ -97,6 +97,8 @@ namespace armarx::navigation::core
const std::vector<TrajectoryPoint>& points() const;
+ float duration(core::VelocityInterpolation interpolation) const;
+
private:
std::vector<TrajectoryPoint> pts;
};
--
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