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PreComputedJointTrajectory.md

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class PreComputedJointTrajectory

Member values

Member name Data type Description
mode uint32 Trajectory continuity mode
trajectory_elements PreComputedJointTrajectoryElement List of pre-computed elements composing the trajectory.

Member functions

Function name Return type Input type Description
mode() const uint32 void Returns the current value of mode. If the mode is not set, returns 0.
set_mode() void uint32 Sets the value of mode. After calling this, mode() will return value.
clear_mode() void void Clears the value of mode. After calling this, mode() will return the empty string/empty bytes.
trajectory_elements_size() const int void Returns the number of elements currently in the field.
trajectory_elements() const const PreComputedJointTrajectoryElement int index Returns the element at the given zero-based index. Calling this method with index outside of [0, trajectory_elements_size()) yields undefined behavior.
mutable_trajectory_elements() PreComputedJointTrajectoryElement* int index Returns a pointer to the mutable PreComputedJointTrajectoryElement object that stores the value of the element at the given zero-based index. Calling this method with index outside of [0, trajectory_elements_size()) yields undefined behavior.
add_trajectory_elements() PreComputedJointTrajectoryElement* void Adds a new element and returns a pointer to it. The returned PreComputedJointTrajectoryElement is mutable and will have none of its fields set (i.e. it will be identical to a newly-allocated PreComputedJointTrajectoryElement).
clear_trajectory_elements() void void Removes all elements from the field. After calling this, trajectory_elements_size() will return zero.
trajectory_elements() const const RepeatedPtrField< PreComputedJointTrajectoryElement>& void Returns the underlying RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.
mutable_trajectory_elements() RepeatedPtrField< PreComputedJointTrajectoryElement>* void Returns a pointer to the underlying mutable RepeatedPtrField that stores the field's elements. This container class provides STL-like iterators and other methods.

Parent topic: Base (C++)