Method and arrangement for determination of a trajectory for a robot device in a cloud

A non-transitory computer readable recording medium storing a computer program product for determining a trajectory in a Web server for controlling a robot device over a web interface in a cloud, the computer program product comprising program instructions which, when run on processing circuitry of the Web server, causes the Web server to:

• receive a hypertext transfer protocol (HTTP) request for the trajectory between a first pose and a second pose of the robot device, wherein the HTTP request comprises a unified resource identifier (URI) string comprising information about the first and second poses;
• obtain, based on the information about the first and second poses, a URI-encoding of the first and second poses in the URI string, the URI string comprising a set of values defining each first and second pose;
• wherein the obtaining comprises:
• obtaining digits from each set of values and with the same weight grouped together, where the digits of each one of the groups are positioned one after the other in the URI string, and wherein the groups are ordered according to decreasing weight of digits in each group;
• obtaining a minimally required length of matching digits between a URI-encoded trajectory being requested and a URI-encoded trajectory to be determined;
• determining the longest length of matching digits between a URI-encoding of any one of trajectories in a storage and the URI-encoded trajectory being requested;
• determining whether the longest length of matching digits is shorter than the minimally required length of matching digits, or not;
• and
• based on the determining whether the longest length of matching digits is shorter than the minimally required length of matching digits, either:
• in response to the longest length of matching digits being equal to or longer than the minimally required length of matching digits, send a HTTP response as a response to the HTTP request, the HTTP response comprising the trajectory being determined;
• or
• in response to the longest length of matching digits being shorter than the minimally required length of matching digits, send a HTTP request to a trajectory generator service (TGS) to calculate the trajectory being requested.

A Web server capable of determining a trajectory for controlling a robot device over a web interface in a cloud, the Web server comprising:

• processing circuitry;
• memory containing instructions executable by the processing circuitry whereby the Web server is operative to:
• receive a hypertext transfer protocol (HTTP) request for the trajectory between a first pose and a second pose of the robot device, where the HTTP request comprises a unified resource identifier (URI) string comprising information about the first and second poses;
• obtain, based on the information about the first and second poses, a URI-encoding of the first and second poses in the URI string, the URI string comprising a set of values defining each first and second pose;
• obtain digits from each set of values and with the same weight grouped together, where the digits of each one of the groups are positioned one after the other in the URI string, and wherein the groups are ordered according to decreasing weight of digits in each group;
• obtain a minimally required length of matching digits between a URI-encoded trajectory being requested and a URI-encoded trajectory to be determined;
• determine the longest length of matching digits between the URI-encoded trajectory being requested and a URI-encoding of any one of trajectories in a storage;
• determine whether the longest length of matching digits is shorter than the minimally required length of matching digits, or not;
• and
• based on the determination whether the longest length of matching digits is shorter than the minimally required length of matching digits, either:
• in response to the longest length of matching digits is, equal to or, longer than the minimally required length of matching digits, send a HTTP response as a response to the HTTP request, the HTTP response comprising the trajectory to be determined;
• or
• in response to the longest length of matching digits is shorter than the minimally required length of matching digits, send a HTTP request to a trajectory generator service (TGS) to calculate the trajectory being requested.