iterative_torque_limit_parameterization.h

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/* Author: Andy Zelenak */
/* Description: Time-parameterize a trajectory with Time Optimal Trajectory Generation, then iterate until torque limits are obeyed. */
 
#pragma once
 
#include <moveit/trajectory_processing/time_optimal_trajectory_generation.h>
 
namespace trajectory_processing
{
class IterativeTorqueLimitParameterization
{
public:
  IterativeTorqueLimitParameterization(const double path_tolerance = 0.1, const double resample_dt = 0.1,
                                       const double min_angle_change = 0.001);
 
  bool computeTimeStampsWithTorqueLimits(
      robot_trajectory::RobotTrajectory& trajectory, const geometry_msgs::Vector3& gravity_vector,
      const std::vector<geometry_msgs::Wrench>& external_link_wrenches, const std::vector<double>& joint_torque_limits,
      double accel_limit_decrement_factor, const std::unordered_map<std::string, double>& velocity_limits,
      const std::unordered_map<std::string, double>& acceleration_limits, const double max_velocity_scaling_factor,
      const double max_acceleration_scaling_factor) const;
 
private:
  TimeOptimalTrajectoryGeneration totg_;
};
}  // namespace trajectory_processing