spline_smoother::LSPBTrajectory Class Reference

Generates velocities at waypoints by finite differencing. Accelerations are set to zero. More...

#include <lspb_trajectory.h>

List of all members.

Public Member Functions

 LSPBTrajectory ()
bool parameterize (const trajectory_msgs::JointTrajectory &trajectory_in, const std::vector< motion_planning_msgs::JointLimits > &limits, spline_smoother::LSPBTrajectoryMsg &spline)

Private Member Functions

double blendTime (const double &aa, const double &bb, const double &cc)
double calculateMinimumTime (const trajectory_msgs::JointTrajectoryPoint &start, const trajectory_msgs::JointTrajectoryPoint &end, const std::vector< motion_planning_msgs::JointLimits > &limits)
double minSegmentTime (const double &q0, const double &q1, const double &v0, const double &v1, const motion_planning_msgs::JointLimits &limit)

Private Attributes

bool apply_limits_

Detailed Description

Generates velocities at waypoints by finite differencing. Accelerations are set to zero.

Definition at line 48 of file lspb_trajectory.h.

Constructor & Destructor Documentation

spline_smoother::LSPBTrajectory::LSPBTrajectory (  ) 

Definition at line 39 of file lspb_trajectory.cpp.

Member Function Documentation

double spline_smoother::LSPBTrajectory::blendTime ( const double &  aa,
const double &  bb,
const double &  cc 
) [private]

Definition at line 110 of file lspb_trajectory.cpp.

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

Definition at line 44 of file lspb_trajectory.cpp.

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

Definition at line 83 of file lspb_trajectory.cpp.

bool spline_smoother::LSPBTrajectory::parameterize ( const trajectory_msgs::JointTrajectory &  trajectory_in,
const std::vector< motion_planning_msgs::JointLimits > &  limits,
spline_smoother::LSPBTrajectoryMsg spline 

Definition at line 134 of file lspb_trajectory.cpp.

Member Data Documentation

Definition at line 74 of file lspb_trajectory.h.

The documentation for this class was generated from the following files:
 All Classes Namespaces Files Functions Variables Typedefs

Author(s): Mrinal Kalakrishnan / mail@mrinal.net
autogenerated on Fri Jan 11 09:15:18 2013