#include <iterative_torque_limit_parameterization.h>
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| 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 |
| | Compute a trajectory with waypoints spaced equally in time (according to resample_dt_). Resampling the trajectory doesn't change the start and goal point, and all re-sampled waypoints will be on the path of the original trajectory (within path_tolerance_). However, controller execution is separate from MoveIt and may deviate from the intended path between waypoints. path_tolerance_ is defined in configuration space, so the unit is rad for revolute joints, meters for prismatic joints. More...
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| | IterativeTorqueLimitParameterization (const double path_tolerance=0.1, const double resample_dt=0.1, const double min_angle_change=0.001) |
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◆ IterativeTorqueLimitParameterization()
| trajectory_processing::IterativeTorqueLimitParameterization::IterativeTorqueLimitParameterization |
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const double |
path_tolerance = 0.1, |
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const double |
resample_dt = 0.1, |
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const double |
min_angle_change = 0.001 |
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◆ computeTimeStampsWithTorqueLimits()
| bool trajectory_processing::IterativeTorqueLimitParameterization::computeTimeStampsWithTorqueLimits |
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robot_trajectory::RobotTrajectory & |
trajectory, |
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const geometry_msgs::Vector3 & |
gravity_vector, |
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const std::vector< geometry_msgs::Wrench > & |
external_link_wrenches, |
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const std::vector< double > & |
joint_torque_limits, |
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double |
accel_limit_decrement_factor, |
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const std::unordered_map< std::string, double > & |
velocity_limits, |
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const std::unordered_map< std::string, double > & |
acceleration_limits, |
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const double |
max_velocity_scaling_factor, |
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const double |
max_acceleration_scaling_factor |
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Compute a trajectory with waypoints spaced equally in time (according to resample_dt_). Resampling the trajectory doesn't change the start and goal point, and all re-sampled waypoints will be on the path of the original trajectory (within path_tolerance_). However, controller execution is separate from MoveIt and may deviate from the intended path between waypoints. path_tolerance_ is defined in configuration space, so the unit is rad for revolute joints, meters for prismatic joints.
- Parameters
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| [in,out] | trajectory | A path which needs time-parameterization. It's OK if this path has already been time-parameterized; this function will re-time-parameterize it. |
| gravity_vector | For example, (0, 0, -9.81). Units are m/s^2 |
| external_link_wrenches | Externally-applied wrenches on each link. TODO(andyz): what frame is this in? |
| joint_torque_limits | Torque limits for each joint in N*m. Should all be >0. |
| accel_limit_decrement_factor | Typically in the range [0.01-0.1]. This affects how fast acceleration limits are decreased while searching for a solution. Time-optimality of the output is accurate to approximately 100*accel_limit_decrement_factor %. For example, if accel_limit_decrement_factor is 0.1, the output should be within 10% of time-optimal. |
| max_velocity_scaling_factor | A factor in the range [0,1] which can slow down the trajectory. |
| max_acceleration_scaling_factor | A factor in the range [0,1] which can slow down the trajectory. |
Definition at line 84 of file iterative_torque_limit_parameterization.cpp.
◆ totg_
The documentation for this class was generated from the following files: