Scales the time intervals stretching them if necessary so that the trajectory conforms to velocity limits. More...
#include <cubic_spline_shortcutter.h>
Public Member Functions | |
| virtual bool | configure () |
| Configure the filter with the discretization for returned trajectories. | |
| CubicSplineShortCutter () | |
| Construct the smoother. | |
| virtual bool | smooth (const T &trajectory_in, T &trajectory_out) const |
| virtual | ~CubicSplineShortCutter () |
Private Member Functions | |
| bool | addToTrajectory (trajectory_msgs::JointTrajectory &trajectory_out, const trajectory_msgs::JointTrajectoryPoint &trajectory_point, const ros::Duration &delta_time) const |
| void | discretizeAndAppendSegment (const spline_smoother::SplineTrajectorySegment &spline_segment, const double &discretization, trajectory_msgs::JointTrajectory &joint_trajectory, const ros::Duration &segment_start_time, const bool &include_segment_end) const |
| void | discretizeTrajectory (const spline_smoother::SplineTrajectory &spline, const double &discretization, trajectory_msgs::JointTrajectory &joint_trajectory) const |
| bool | findTrajectoryPointsInInterval (const trajectory_msgs::JointTrajectory &trajectory, const double &segment_start_time, const double &segment_end_time, int &index_1, int &index_2) const |
| int | getRandomInt (int min, int max) const |
| double | getRandomTimeStamp (double min, double max) const |
| bool | getWaypoints (const spline_smoother::SplineTrajectory &spline, trajectory_msgs::JointTrajectory &joint_trajectory) const |
| double | maxLInfDistance (const trajectory_msgs::JointTrajectoryPoint &start, const trajectory_msgs::JointTrajectoryPoint &end) const |
| void | printTrajectory (const trajectory_msgs::JointTrajectory &joint_trajectory) const |
| void | refineTrajectory (T &trajectory) const |
| bool | setupCollisionEnvironment () |
| bool | trimTrajectory (trajectory_msgs::JointTrajectory &trajectory_out, const double &segment_start_time, const double &segment_end_time) const |
Private Attributes | |
| bool | active_ |
| planning_environment::CollisionModels * | collision_models_ |
| double | discretization_ |
| ros::NodeHandle | node_handle_ |
| planning_environment::PlanningMonitor * | planning_monitor_ |
| tf::TransformListener | tf_ |
Scales the time intervals stretching them if necessary so that the trajectory conforms to velocity limits.
Definition at line 51 of file cubic_spline_shortcutter.h.
| constraint_aware_spline_smoother::CubicSplineShortCutter< T >::CubicSplineShortCutter | ( | ) | [inline] |
Construct the smoother.
Definition at line 122 of file cubic_spline_shortcutter.h.
| constraint_aware_spline_smoother::CubicSplineShortCutter< T >::~CubicSplineShortCutter | ( | ) | [inline, virtual] |
Definition at line 131 of file cubic_spline_shortcutter.h.
| bool constraint_aware_spline_smoother::CubicSplineShortCutter< T >::addToTrajectory | ( | trajectory_msgs::JointTrajectory & | trajectory_out, | |
| const trajectory_msgs::JointTrajectoryPoint & | trajectory_point, | |||
| const ros::Duration & | delta_time | |||
| ) | const [inline, private] |
Definition at line 540 of file cubic_spline_shortcutter.h.
| bool constraint_aware_spline_smoother::CubicSplineShortCutter< T >::configure | ( | ) | [inline, virtual] |
Configure the filter with the discretization for returned trajectories.
Definition at line 107 of file cubic_spline_shortcutter.h.
| void constraint_aware_spline_smoother::CubicSplineShortCutter< T >::discretizeAndAppendSegment | ( | const spline_smoother::SplineTrajectorySegment & | spline_segment, | |
| const double & | discretization, | |||
| trajectory_msgs::JointTrajectory & | joint_trajectory, | |||
| const ros::Duration & | segment_start_time, | |||
| const bool & | include_segment_end | |||
| ) | const [inline, private] |
Definition at line 396 of file cubic_spline_shortcutter.h.
| void constraint_aware_spline_smoother::CubicSplineShortCutter< T >::discretizeTrajectory | ( | const spline_smoother::SplineTrajectory & | spline, | |
| const double & | discretization, | |||
| trajectory_msgs::JointTrajectory & | joint_trajectory | |||
| ) | const [inline, private] |
Definition at line 376 of file cubic_spline_shortcutter.h.
| bool constraint_aware_spline_smoother::CubicSplineShortCutter< T >::findTrajectoryPointsInInterval | ( | const trajectory_msgs::JointTrajectory & | trajectory, | |
| const double & | segment_start_time, | |||
| const double & | segment_end_time, | |||
| int & | index_1, | |||
| int & | index_2 | |||
| ) | const [inline, private] |
Definition at line 484 of file cubic_spline_shortcutter.h.
| int constraint_aware_spline_smoother::CubicSplineShortCutter< T >::getRandomInt | ( | int | min, | |
| int | max | |||
| ) | const [inline, private] |
Definition at line 136 of file cubic_spline_shortcutter.h.
| double constraint_aware_spline_smoother::CubicSplineShortCutter< T >::getRandomTimeStamp | ( | double | min, | |
| double | max | |||
| ) | const [inline, private] |
Definition at line 144 of file cubic_spline_shortcutter.h.
| bool constraint_aware_spline_smoother::CubicSplineShortCutter< T >::getWaypoints | ( | const spline_smoother::SplineTrajectory & | spline, | |
| trajectory_msgs::JointTrajectory & | joint_trajectory | |||
| ) | const [inline, private] |
Definition at line 522 of file cubic_spline_shortcutter.h.
| double constraint_aware_spline_smoother::CubicSplineShortCutter< T >::maxLInfDistance | ( | const trajectory_msgs::JointTrajectoryPoint & | start, | |
| const trajectory_msgs::JointTrajectoryPoint & | end | |||
| ) | const [inline, private] |
Definition at line 440 of file cubic_spline_shortcutter.h.
| void constraint_aware_spline_smoother::CubicSplineShortCutter< T >::printTrajectory | ( | const trajectory_msgs::JointTrajectory & | joint_trajectory | ) | const [inline, private] |
Definition at line 332 of file cubic_spline_shortcutter.h.
| void constraint_aware_spline_smoother::CubicSplineShortCutter< T >::refineTrajectory | ( | T & | trajectory | ) | const [inline, private] |
Definition at line 303 of file cubic_spline_shortcutter.h.
| bool constraint_aware_spline_smoother::CubicSplineShortCutter< T >::setupCollisionEnvironment | ( | ) | [inline, private] |
Definition at line 590 of file cubic_spline_shortcutter.h.
| bool constraint_aware_spline_smoother::CubicSplineShortCutter< T >::smooth | ( | const T & | trajectory_in, | |
| T & | trajectory_out | |||
| ) | const [inline, virtual] |
Definition at line 152 of file cubic_spline_shortcutter.h.
| bool constraint_aware_spline_smoother::CubicSplineShortCutter< T >::trimTrajectory | ( | trajectory_msgs::JointTrajectory & | trajectory_out, | |
| const double & | segment_start_time, | |||
| const double & | segment_end_time | |||
| ) | const [inline, private] |
Definition at line 456 of file cubic_spline_shortcutter.h.
bool constraint_aware_spline_smoother::CubicSplineShortCutter< T >::active_ [private] |
Definition at line 58 of file cubic_spline_shortcutter.h.
planning_environment::CollisionModels* constraint_aware_spline_smoother::CubicSplineShortCutter< T >::collision_models_ [private] |
Definition at line 61 of file cubic_spline_shortcutter.h.
double constraint_aware_spline_smoother::CubicSplineShortCutter< T >::discretization_ [private] |
Definition at line 59 of file cubic_spline_shortcutter.h.
ros::NodeHandle constraint_aware_spline_smoother::CubicSplineShortCutter< T >::node_handle_ [private] |
Definition at line 63 of file cubic_spline_shortcutter.h.
planning_environment::PlanningMonitor* constraint_aware_spline_smoother::CubicSplineShortCutter< T >::planning_monitor_ [private] |
Definition at line 62 of file cubic_spline_shortcutter.h.
tf::TransformListener constraint_aware_spline_smoother::CubicSplineShortCutter< T >::tf_ [private] |
Definition at line 64 of file cubic_spline_shortcutter.h.
