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spline_smoother::CubicTrajectory Class Reference

#include <cubic_trajectory.h>

List of all members.

Public Member Functions

 CubicTrajectory ()
bool parameterize (const trajectory_msgs::JointTrajectory &trajectory_in, const std::vector< arm_navigation_msgs::JointLimits > &limits, spline_smoother::SplineTrajectory &spline)

Private Member Functions

double calculateMinimumTime (const trajectory_msgs::JointTrajectoryPoint &start, const trajectory_msgs::JointTrajectoryPoint &end, const std::vector< arm_navigation_msgs::JointLimits > &limits)
double minSegmentTime (const double &q0, const double &q1, const double &v0, const double &v1, const arm_navigation_msgs::JointLimits &limit)
bool quadSolve (const double &a, const double &b, const double &c, std::vector< double > &solution)
bool quadSolve (const double &a, const double &b, const double &c, double &solution)
bool validSolution (const double &q0, const double &q1, const double &v0, const double &v1, const double &dT, const double &vmax, const double &amax)

Private Attributes

bool apply_limits_

Static Private Attributes

static const double EPS_TRAJECTORY = 1.0e-8

Detailed Description

Definition at line 47 of file cubic_trajectory.h.


Constructor & Destructor Documentation

spline_smoother::CubicTrajectory::CubicTrajectory (  ) 

Definition at line 41 of file cubic_trajectory.cpp.


Member Function Documentation

double spline_smoother::CubicTrajectory::calculateMinimumTime ( const trajectory_msgs::JointTrajectoryPoint start,
const trajectory_msgs::JointTrajectoryPoint end,
const std::vector< arm_navigation_msgs::JointLimits > &  limits 
) [private]

Definition at line 46 of file cubic_trajectory.cpp.

double spline_smoother::CubicTrajectory::minSegmentTime ( const double &  q0,
const double &  q1,
const double &  v0,
const double &  v1,
const arm_navigation_msgs::JointLimits limit 
) [private]

Definition at line 63 of file cubic_trajectory.cpp.

bool spline_smoother::CubicTrajectory::parameterize ( const trajectory_msgs::JointTrajectory trajectory_in,
const std::vector< arm_navigation_msgs::JointLimits > &  limits,
spline_smoother::SplineTrajectory spline 
)

Definition at line 205 of file cubic_trajectory.cpp.

bool spline_smoother::CubicTrajectory::quadSolve ( const double &  a,
const double &  b,
const double &  c,
std::vector< double > &  solution 
) [private]

Definition at line 283 of file cubic_trajectory.cpp.

bool spline_smoother::CubicTrajectory::quadSolve ( const double &  a,
const double &  b,
const double &  c,
double &  solution 
) [private]

Definition at line 249 of file cubic_trajectory.cpp.

bool spline_smoother::CubicTrajectory::validSolution ( const double &  q0,
const double &  q1,
const double &  v0,
const double &  v1,
const double &  dT,
const double &  vmax,
const double &  amax 
) [private]

Definition at line 159 of file cubic_trajectory.cpp.


Member Data Documentation

Definition at line 85 of file cubic_trajectory.h.

const double spline_smoother::CubicTrajectory::EPS_TRAJECTORY = 1.0e-8 [static, private]

Definition at line 65 of file cubic_trajectory.h.


The documentation for this class was generated from the following files:
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spline_smoother
Author(s): Mrinal Kalakrishnan / mail@mrinal.net
autogenerated on Fri Mar 1 14:18:20 2013