Trajectory::MotorTrajectory API

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符号: 82
已记录: 10
修订版本: 0.1.0+29bd084ccf5d

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命名空间

trajectory

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MotorTrajectory/motor_trajectory.hpp:22

类

trajectory::MotorTrajectory

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MotorTrajectory/motor_trajectory.hpp:31

trajectory::MotorTrajectorySlave

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MotorTrajectory/motor_trajectory_slave.hpp:20

结构体

trajectory::MotorTrajectorySlave::NoBuffer

当 Offline = true 时替代 RingBuffer 的空占位类型。

MotorTrajectory/motor_trajectory_slave.hpp:253

trajectory::MotorTrajectorySlave::TargetPoint

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MotorTrajectory/motor_trajectory_slave.hpp:27

函数

trajectory::MotorTrajectory::MotorTrajectory

                    trajectory::MotorTrajectory< MotorNum >::MotorTrajectory (controllers::MotorVelController *motor_controller, const ProfileConfig &profile_cfg, const PD::Config &error_pd_cfg, const float finish_threshold=2.0)

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MotorTrajectory/motor_trajectory.hpp:66

trajectory::MotorTrajectory::MotorTrajectory

                    trajectory::MotorTrajectory< MotorNum >::MotorTrajectory (controllers::MotorVelController *motor_controllers[MotorNum], const ProfileConfig &profile_cfg, const PD::Config &error_pd_cfg, const float finish_threshold=2.0)

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MotorTrajectory/motor_trajectory.hpp:36

trajectory::MotorTrajectory::MotorTrajectory

                    trajectory::MotorTrajectory< MotorNum >::MotorTrajectory (controllers::MotorVelController(&motors)[MotorNum], ProfileConfig profile_cfg, const PD::Config &error_pd_cfg, const float finish_threshold=2.0)

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MotorTrajectory/motor_trajectory.hpp:51

trajectory::MotorTrajectory::controllerUpdate

                    void trajectory::MotorTrajectory< MotorNum >::controllerUpdate ()

更新速度环

MotorTrajectory/motor_trajectory.hpp:107

trajectory::MotorTrajectory::disable

                    void trajectory::MotorTrajectory< MotorNum >::disable ()

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MotorTrajectory/motor_trajectory.hpp:281

trajectory::MotorTrajectory::enable

                    bool trajectory::MotorTrajectory< MotorNum >::enable ()

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MotorTrajectory/motor_trajectory.hpp:263

trajectory::MotorTrajectory::enabled

                    bool trajectory::MotorTrajectory< MotorNum >::enabled () const

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MotorTrajectory/motor_trajectory.hpp:292

trajectory::MotorTrajectory::errorUpdate

                    void trajectory::MotorTrajectory< MotorNum >::errorUpdate ()

更新误差补偿

MotorTrajectory/motor_trajectory.hpp:95

trajectory::MotorTrajectory::getCurrentAvePosition

                    float trajectory::MotorTrajectory< MotorNum >::getCurrentAvePosition () const

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MotorTrajectory/motor_trajectory.hpp:228

trajectory::MotorTrajectory::getCurrentAveVelocity

                    float trajectory::MotorTrajectory< MotorNum >::getCurrentAveVelocity () const

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MotorTrajectory/motor_trajectory.hpp:236

trajectory::MotorTrajectory::getCurrentPosition

                    float trajectory::MotorTrajectory< MotorNum >::getCurrentPosition () const

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MotorTrajectory/motor_trajectory.hpp:245

trajectory::MotorTrajectory::getCurrentVelocity

                    float trajectory::MotorTrajectory< MotorNum >::getCurrentVelocity () const

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MotorTrajectory/motor_trajectory.hpp:251

trajectory::MotorTrajectory::getTotalTime

                    float trajectory::MotorTrajectory< MotorNum >::getTotalTime () const

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MotorTrajectory/motor_trajectory.hpp:256

trajectory::MotorTrajectory::isFinished

                    bool trajectory::MotorTrajectory< MotorNum >::isFinished () const

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MotorTrajectory/motor_trajectory.hpp:294

trajectory::MotorTrajectory::lastFailureInfo

                    const velocity_profile::SCurveProfile::FailureInfo & trajectory::MotorTrajectory< MotorNum >::lastFailureInfo () const

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MotorTrajectory/motor_trajectory.hpp:258

trajectory::MotorTrajectory::profileUpdate

                    void trajectory::MotorTrajectory< MotorNum >::profileUpdate (const float dt)

更新速度规划曲线 dt 间隔时间 (unit: s)

MotorTrajectory/motor_trajectory.hpp:79

trajectory::MotorTrajectory::setDefaultProfileConfig

                    void trajectory::MotorTrajectory< MotorNum >::setDefaultProfileConfig (const ProfileConfig &cfg)

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MotorTrajectory/motor_trajectory.hpp:300

trajectory::MotorTrajectory::setRelativeTarget

                    bool trajectory::MotorTrajectory< MotorNum >::setRelativeTarget (const float target)

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MotorTrajectory/motor_trajectory.hpp:215

trajectory::MotorTrajectory::setRelativeTarget

                    bool trajectory::MotorTrajectory< MotorNum >::setRelativeTarget (const float target, const LinkMode link_mode)

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MotorTrajectory/motor_trajectory.hpp:219

trajectory::MotorTrajectory::setRelativeTarget

                    bool trajectory::MotorTrajectory< MotorNum >::setRelativeTarget (const float target, const LinkMode link_mode, const ProfileConfig &config)

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MotorTrajectory/motor_trajectory.hpp:193

trajectory::MotorTrajectory::setRelativeTarget

                    bool trajectory::MotorTrajectory< MotorNum >::setRelativeTarget (const float target, const ProfileConfig &config)

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MotorTrajectory/motor_trajectory.hpp:223

trajectory::MotorTrajectory::setTarget

                    bool trajectory::MotorTrajectory< MotorNum >::setTarget (const float target)

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MotorTrajectory/motor_trajectory.hpp:180

trajectory::MotorTrajectory::setTarget

                    bool trajectory::MotorTrajectory< MotorNum >::setTarget (const float target, const LinkMode link_mode)

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MotorTrajectory/motor_trajectory.hpp:184

trajectory::MotorTrajectory::setTarget

                    bool trajectory::MotorTrajectory< MotorNum >::setTarget (const float target, const LinkMode link_mode, const ProfileConfig &config)

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MotorTrajectory/motor_trajectory.hpp:123

trajectory::MotorTrajectory::setTarget

                    bool trajectory::MotorTrajectory< MotorNum >::setTarget (const float target, const ProfileConfig &config)

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MotorTrajectory/motor_trajectory.hpp:188

trajectory::MotorTrajectory::stop

                    void trajectory::MotorTrajectory< MotorNum >::stop ()

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MotorTrajectory/motor_trajectory.hpp:115

trajectory::MotorTrajectorySlave::MotorTrajectorySlave

                    trajectory::MotorTrajectorySlave< MotorNum, BufferCapacity, Offline >::MotorTrajectorySlave (controllers::MotorVelController *motor_controller, const PD::Config &error_pd_cfg)

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MotorTrajectory/motor_trajectory_slave.hpp:54

trajectory::MotorTrajectorySlave::MotorTrajectorySlave

                    trajectory::MotorTrajectorySlave< MotorNum, BufferCapacity, Offline >::MotorTrajectorySlave (controllers::MotorVelController *motor_controllers[MotorNum], const PD::Config &error_pd_cfg)

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MotorTrajectory/motor_trajectory_slave.hpp:33

trajectory::MotorTrajectorySlave::MotorTrajectorySlave

                    trajectory::MotorTrajectorySlave< MotorNum, BufferCapacity, Offline >::MotorTrajectorySlave (controllers::MotorVelController(&motors)[MotorNum], const PD::Config &error_pd_cfg)

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MotorTrajectory/motor_trajectory_slave.hpp:43

trajectory::MotorTrajectorySlave::applyTargetWithLastError

                    void trajectory::MotorTrajectorySlave< MotorNum, BufferCapacity, Offline >::applyTargetWithLastError ()

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MotorTrajectory/motor_trajectory_slave.hpp:238

trajectory::MotorTrajectorySlave::clearTrajectory

                    void trajectory::MotorTrajectorySlave< MotorNum, BufferCapacity, Offline >::clearTrajectory ()

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MotorTrajectory/motor_trajectory_slave.hpp:193

trajectory::MotorTrajectorySlave::controllerUpdate

                    void trajectory::MotorTrajectorySlave< MotorNum, BufferCapacity, Offline >::controllerUpdate ()

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MotorTrajectory/motor_trajectory_slave.hpp:111

trajectory::MotorTrajectorySlave::disable

                    void trajectory::MotorTrajectorySlave< MotorNum, BufferCapacity, Offline >::disable ()

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MotorTrajectory/motor_trajectory_slave.hpp:163

trajectory::MotorTrajectorySlave::dps2rpm

                    static constexpr float trajectory::MotorTrajectorySlave< MotorNum, BufferCapacity, Offline >::dps2rpm (const float dps)

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MotorTrajectory/motor_trajectory_slave.hpp:236

trajectory::MotorTrajectorySlave::enable

                    bool trajectory::MotorTrajectorySlave< MotorNum, BufferCapacity, Offline >::enable ()

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MotorTrajectory/motor_trajectory_slave.hpp:138

trajectory::MotorTrajectorySlave::enabled

                    bool trajectory::MotorTrajectorySlave< MotorNum, BufferCapacity, Offline >::enabled () const

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MotorTrajectory/motor_trajectory_slave.hpp:177

trajectory::MotorTrajectorySlave::errorUpdate

                    void trajectory::MotorTrajectorySlave< MotorNum, BufferCapacity, Offline >::errorUpdate ()

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MotorTrajectory/motor_trajectory_slave.hpp:99

trajectory::MotorTrajectorySlave::getCurrentAvePosition

                    float trajectory::MotorTrajectorySlave< MotorNum, BufferCapacity, Offline >::getCurrentAvePosition () const

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MotorTrajectory/motor_trajectory_slave.hpp:202

trajectory::MotorTrajectorySlave::getCurrentAveVelocity

                    float trajectory::MotorTrajectorySlave< MotorNum, BufferCapacity, Offline >::getCurrentAveVelocity () const

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MotorTrajectory/motor_trajectory_slave.hpp:210

trajectory::MotorTrajectorySlave::getCurrentPosition

                    float trajectory::MotorTrajectorySlave< MotorNum, BufferCapacity, Offline >::getCurrentPosition () const

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MotorTrajectory/motor_trajectory_slave.hpp:219

trajectory::MotorTrajectorySlave::getCurrentVelocity

                    float trajectory::MotorTrajectorySlave< MotorNum, BufferCapacity, Offline >::getCurrentVelocity () const

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MotorTrajectory/motor_trajectory_slave.hpp:225

trajectory::MotorTrajectorySlave::lock

                    void trajectory::MotorTrajectorySlave< MotorNum, BufferCapacity, Offline >::lock ()

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MotorTrajectory/motor_trajectory_slave.hpp:179

trajectory::MotorTrajectorySlave::locked

                    bool trajectory::MotorTrajectorySlave< MotorNum, BufferCapacity, Offline >::locked () const

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MotorTrajectory/motor_trajectory_slave.hpp:189

trajectory::MotorTrajectorySlave::profileUpdate

                    void trajectory::MotorTrajectorySlave< MotorNum, BufferCapacity, Offline >::profileUpdate ()

从缓冲区取出一个外部轨迹点作为当前目标。

MotorTrajectory/motor_trajectory_slave.hpp:70

trajectory::MotorTrajectorySlave::profileUpdate

                    void trajectory::MotorTrajectorySlave< MotorNum, BufferCapacity, Offline >::profileUpdate (const TargetPoint &point)

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MotorTrajectory/motor_trajectory_slave.hpp:92

trajectory::MotorTrajectorySlave::profileUpdate

                    void trajectory::MotorTrajectorySlave< MotorNum, BufferCapacity, Offline >::profileUpdate (const float dt)

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MotorTrajectory/motor_trajectory_slave.hpp:86

trajectory::MotorTrajectorySlave::pushTrajectoryPoint

                    bool trajectory::MotorTrajectorySlave< MotorNum, BufferCapacity, Offline >::pushTrajectoryPoint (const TargetPoint &point)

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MotorTrajectory/motor_trajectory_slave.hpp:61

trajectory::MotorTrajectorySlave::stop

                    void trajectory::MotorTrajectorySlave< MotorNum, BufferCapacity, Offline >::stop ()

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MotorTrajectory/motor_trajectory_slave.hpp:120

trajectory::MotorTrajectorySlave::target

                    TargetPoint trajectory::MotorTrajectorySlave< MotorNum, BufferCapacity, Offline >::target () const

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MotorTrajectory/motor_trajectory_slave.hpp:191

trajectory::MotorTrajectorySlave::unlock

                    void trajectory::MotorTrajectorySlave< MotorNum, BufferCapacity, Offline >::unlock ()

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MotorTrajectory/motor_trajectory_slave.hpp:184

trajectory::MotorTrajectorySlave::updateTarget

                    void trajectory::MotorTrajectorySlave< MotorNum, BufferCapacity, Offline >::updateTarget (const TargetPoint &target)

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MotorTrajectory/motor_trajectory_slave.hpp:233

枚举

trajectory::LinkMode

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CurrentState: 上游未提供说明。
PreviousCurve: 上游未提供说明。

MotorTrajectory/motor_trajectory.hpp:25

类型定义

trajectory::MotorTrajectory::ProfileConfig

                    using trajectory::MotorTrajectory< MotorNum >::ProfileConfig = velocity_profile::SCurveProfile::Config

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MotorTrajectory/motor_trajectory.hpp:34

变量

trajectory::MotorTrajectory::ctrl_

                    controllers::MotorVelController* trajectory::MotorTrajectory< MotorNum >::ctrl_[MotorNum] [MotorNum]

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MotorTrajectory/motor_trajectory.hpp:303

trajectory::MotorTrajectory::default_profile_cfg_

                    ProfileConfig trajectory::MotorTrajectory< MotorNum >::default_profile_cfg_

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MotorTrajectory/motor_trajectory.hpp:313

trajectory::MotorTrajectory::enabled_

                    bool trajectory::MotorTrajectory< MotorNum >::enabled_

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MotorTrajectory/motor_trajectory.hpp:306

trajectory::MotorTrajectory::finish_threshold_

                    float trajectory::MotorTrajectory< MotorNum >::finish_threshold_

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MotorTrajectory/motor_trajectory.hpp:309

trajectory::MotorTrajectory::last_failure_info_

                    velocity_profile::SCurveProfile::FailureInfo trajectory::MotorTrajectory< MotorNum >::last_failure_info_

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MotorTrajectory/motor_trajectory.hpp:316

trajectory::MotorTrajectory::now_

                    float trajectory::MotorTrajectory< MotorNum >::now_

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MotorTrajectory/motor_trajectory.hpp:322

trajectory::MotorTrajectory::p_ref_curr_

                    float trajectory::MotorTrajectory< MotorNum >::p_ref_curr_

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MotorTrajectory/motor_trajectory.hpp:318

trajectory::MotorTrajectory::pd_

                    PD trajectory::MotorTrajectory< MotorNum >::pd_[MotorNum] [MotorNum]

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MotorTrajectory/motor_trajectory.hpp:311

trajectory::MotorTrajectory::profile_

                    velocity_profile::SCurveProfile trajectory::MotorTrajectory< MotorNum >::profile_

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MotorTrajectory/motor_trajectory.hpp:314

trajectory::MotorTrajectory::stopped_

                    bool trajectory::MotorTrajectory< MotorNum >::stopped_

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MotorTrajectory/motor_trajectory.hpp:307

trajectory::MotorTrajectory::v_ref_curr_

                    float trajectory::MotorTrajectory< MotorNum >::v_ref_curr_

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MotorTrajectory/motor_trajectory.hpp:319

trajectory::MotorTrajectory::v_ref_curr_rpm_

                    float trajectory::MotorTrajectory< MotorNum >::v_ref_curr_rpm_

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MotorTrajectory/motor_trajectory.hpp:320

trajectory::MotorTrajectorySlave::TargetPoint::dq

                    float trajectory::MotorTrajectorySlave< MotorNum, BufferCapacity, Offline >::TargetPoint::dq

目标输出角度导数，单位 deg/s。

MotorTrajectory/motor_trajectory_slave.hpp:30

trajectory::MotorTrajectorySlave::TargetPoint::q

                    float trajectory::MotorTrajectorySlave< MotorNum, BufferCapacity, Offline >::TargetPoint::q

目标输出角度，单位 deg。

MotorTrajectory/motor_trajectory_slave.hpp:29

trajectory::MotorTrajectorySlave::cmd_buffer_

                    std::conditional_t<Offline, NoBuffer, libs::RingBuffer<TargetPoint, BufferCapacity> > trajectory::MotorTrajectorySlave< MotorNum, BufferCapacity, Offline >::cmd_buffer_

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MotorTrajectory/motor_trajectory_slave.hpp:259

trajectory::MotorTrajectorySlave::ctrl_

                    controllers::MotorVelController* trajectory::MotorTrajectorySlave< MotorNum, BufferCapacity, Offline >::ctrl_[MotorNum] [MotorNum]

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MotorTrajectory/motor_trajectory_slave.hpp:231

trajectory::MotorTrajectorySlave::enabled_

                    bool trajectory::MotorTrajectorySlave< MotorNum, BufferCapacity, Offline >::enabled_

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MotorTrajectory/motor_trajectory_slave.hpp:244

trajectory::MotorTrajectorySlave::lock_

                    bool trajectory::MotorTrajectorySlave< MotorNum, BufferCapacity, Offline >::lock_

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MotorTrajectory/motor_trajectory_slave.hpp:245

trajectory::MotorTrajectorySlave::pd_

                    PD trajectory::MotorTrajectorySlave< MotorNum, BufferCapacity, Offline >::pd_[MotorNum] [MotorNum]

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MotorTrajectory/motor_trajectory_slave.hpp:248

trajectory::MotorTrajectorySlave::stopped_

                    bool trajectory::MotorTrajectorySlave< MotorNum, BufferCapacity, Offline >::stopped_

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MotorTrajectory/motor_trajectory_slave.hpp:246

trajectory::MotorTrajectorySlave::target_

                    TargetPoint trajectory::MotorTrajectorySlave< MotorNum, BufferCapacity, Offline >::target_

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MotorTrajectory/motor_trajectory_slave.hpp:250

宏定义

DPS2RPM

deg/s 转为 rpm __DEG_PER_SEC__ deg/s

MotorTrajectory/motor_trajectory.hpp:20

文件

MotorTrajectory/motor_trajectory.hpp

syhanjin 2026-01-29

MotorTrajectory/motor_trajectory.hpp

MotorTrajectory/motor_trajectory_slave.hpp

syhanjin 2026-06-08

MotorTrajectory/motor_trajectory_slave.hpp