spline_smoother Namespace Reference

Namespaces
namespace	msg
Classes
class	ClampedCubicSplineSmoother
	Generates a clamped cubic spline trajectory from the input waypoints. More...
class	CubicParameterizedSplineVelocityScaler
	Scales the time intervals stretching them if necessary so that the trajectory conforms to velocity limits. More...
class	CubicParameterizedTrajectory
class	CubicSplineVelocityScaler
	Scales the time intervals stretching them if necessary so that the trajectory conforms to velocity limits. More...
class	CubicTrajectory
class	FritschButlandSplineSmoother
	Implements the Fritsch-Butland algorithm for monotonic cubic spline interpolation. More...
class	LinearSplineVelocityScaler
	Scales the time intervals stretching them if necessary so that the trajectory conforms to velocity limits. More...
class	LinearTrajectory
	Generates velocities at waypoints by finite differencing. Accelerations are set to zero. More...
struct	LSPBSplineCoefficients_
class	LSPBTrajectory
	Generates velocities at waypoints by finite differencing. Accelerations are set to zero. More...
struct	LSPBTrajectoryMsg_
struct	LSPBTrajectorySegmentMsg_
class	NumericalDifferentiationSplineSmoother
	Generates velocities at waypoints by finite differencing. Accelerations are set to zero. More...
struct	SplineCoefficients_
class	SplineSmoother
	Abstract base class for spline smoothing. More...
struct	SplineTrajectory_
struct	SplineTrajectorySegment_
Typedefs
typedef ::spline_smoother::LSPBSplineCoefficients_ < std::allocator< void > >	LSPBSplineCoefficients
typedef boost::shared_ptr < ::spline_smoother::LSPBSplineCoefficients const >	LSPBSplineCoefficientsConstPtr
typedef boost::shared_ptr < ::spline_smoother::LSPBSplineCoefficients >	LSPBSplineCoefficientsPtr
typedef ::spline_smoother::LSPBTrajectoryMsg_ < std::allocator< void > >	LSPBTrajectoryMsg
typedef boost::shared_ptr < ::spline_smoother::LSPBTrajectoryMsg const >	LSPBTrajectoryMsgConstPtr
typedef boost::shared_ptr < ::spline_smoother::LSPBTrajectoryMsg >	LSPBTrajectoryMsgPtr
typedef ::spline_smoother::LSPBTrajectorySegmentMsg_ < std::allocator< void > >	LSPBTrajectorySegmentMsg
typedef boost::shared_ptr < ::spline_smoother::LSPBTrajectorySegmentMsg const >	LSPBTrajectorySegmentMsgConstPtr
typedef boost::shared_ptr < ::spline_smoother::LSPBTrajectorySegmentMsg >	LSPBTrajectorySegmentMsgPtr
typedef ::spline_smoother::SplineCoefficients_ < std::allocator< void > >	SplineCoefficients
typedef boost::shared_ptr < ::spline_smoother::SplineCoefficients const >	SplineCoefficientsConstPtr
typedef boost::shared_ptr < ::spline_smoother::SplineCoefficients >	SplineCoefficientsPtr
typedef ::spline_smoother::SplineTrajectory_ < std::allocator< void > >	SplineTrajectory
typedef boost::shared_ptr < ::spline_smoother::SplineTrajectory const >	SplineTrajectoryConstPtr
typedef boost::shared_ptr < ::spline_smoother::SplineTrajectory >	SplineTrajectoryPtr
typedef ::spline_smoother::SplineTrajectorySegment_ < std::allocator< void > >	SplineTrajectorySegment
typedef boost::shared_ptr < ::spline_smoother::SplineTrajectorySegment const >	SplineTrajectorySegmentConstPtr
typedef boost::shared_ptr < ::spline_smoother::SplineTrajectorySegment >	SplineTrajectorySegmentPtr
Functions
template<typename T >
bool	checkTrajectoryConsistency (T &waypoint_traj)
	Ensures the consistency of a WaypointTrajWithLimits message, and resizes vel and acc arrays.
template<typename T >
void	differentiate (const std::vector< T > &x, std::vector< T > &xd)
bool	findSplineSegment (const spline_smoother::LSPBTrajectoryMsg &spline, const double &time, spline_smoother::LSPBTrajectorySegmentMsg &spline_segment, double &segment_time, int start_index=0, int end_index=-1)
bool	findSplineSegment (const spline_smoother::SplineTrajectory &spline, const double &time, spline_smoother::SplineTrajectorySegment &spline_segment, double &segment_time, int start_index=0, int end_index=-1)
	Internal function that helps determine which spline segment corresponds to an input time.
static void	generatePowers (int n, double x, double *powers)
void	getCubicSplineCoefficients (double start_pos, double start_vel, double end_pos, double end_vel, double time, std::vector< double > &coefficients)
	Calculates cubic spline coefficients given the start and end way-points.
void	getQuinticSplineCoefficients (double start_pos, double start_vel, double start_acc, double end_pos, double end_vel, double end_acc, double time, std::vector< double > &coefficients)
	Calculates quintic spline coefficients given the start and end way-points.
bool	getTotalTime (const spline_smoother::LSPBTrajectoryMsg &spline, double &t)
	Get the total time for the provided spline trajectory.
bool	getTotalTime (const spline_smoother::SplineTrajectory &spline, double &t)
	Get the total time for the provided spline trajectory.
double	jointDiff (const double &from, const double &to, const motion_planning_msgs::JointLimits &limit)
	An internal helper function that uses information about the joint to compute proper angular differences if the joint is a rotary joint with limits.
template<typename ContainerAllocator >
std::ostream &	operator<< (std::ostream &s, const ::spline_smoother::SplineTrajectorySegment_< ContainerAllocator > &v)
template<typename ContainerAllocator >
std::ostream &	operator<< (std::ostream &s, const ::spline_smoother::SplineTrajectory_< ContainerAllocator > &v)
template<typename ContainerAllocator >
std::ostream &	operator<< (std::ostream &s, const ::spline_smoother::SplineCoefficients_< ContainerAllocator > &v)
template<typename ContainerAllocator >
std::ostream &	operator<< (std::ostream &s, const ::spline_smoother::LSPBTrajectorySegmentMsg_< ContainerAllocator > &v)
template<typename ContainerAllocator >
std::ostream &	operator<< (std::ostream &s, const ::spline_smoother::LSPBTrajectoryMsg_< ContainerAllocator > &v)
template<typename ContainerAllocator >
std::ostream &	operator<< (std::ostream &s, const ::spline_smoother::LSPBSplineCoefficients_< ContainerAllocator > &v)
void	sampleCubicSpline (const std::vector< double > &coefficients, double time, double &position, double &velocity, double &acceleration)
	Samples a cubic spline segment at a particular time.
void	sampleQuinticSpline (const std::vector< double > &coefficients, double time, double &position, double &velocity, double &acceleration)
	Samples a quintic spline segment at a particular time.
bool	sampleSplineTrajectory (const spline_smoother::LSPBTrajectoryMsg &spline, const std::vector< double > &times, trajectory_msgs::JointTrajectory &traj_out)
bool	sampleSplineTrajectory (const spline_smoother::SplineTrajectory &spline, const std::vector< double > &times, trajectory_msgs::JointTrajectory &traj_out)
bool	sampleSplineTrajectory (const spline_smoother::LSPBTrajectorySegmentMsg &spline, const double &input_time, trajectory_msgs::JointTrajectoryPoint &point_out)
bool	sampleSplineTrajectory (const spline_smoother::SplineTrajectorySegment &spline, const double &input_time, trajectory_msgs::JointTrajectoryPoint &point_out)
template<typename T >
void	tridiagonalSolve (std::vector< T > &a, std::vector< T > &b, std::vector< T > &c, std::vector< T > &d, std::vector< T > &x)
	Solves the tridiagonal system of equations, Ax = d A is an n by n square matrix which consists of: diagonal b (0 ... n-1) upper diagonal c (0 ... n-2) lower diagonal a (0 ... n-1).
bool	write (const spline_smoother::LSPBTrajectoryMsg &spline, const std::vector< double > &times, const std::string &filename)
	Write the trajectory out to a file after sampling at the specified times.
bool	write (const spline_smoother::SplineTrajectory &spline, const std::vector< double > &times, const std::string &filename)
	Write the trajectory out to a file after sampling at the specified times.
bool	writeSpline (const spline_smoother::LSPBTrajectoryMsg &spline, const std::string &filename)
	Write the spline representation of the trajectory out.
bool	writeSpline (const spline_smoother::SplineTrajectory &spline, const std::string &filename)
	Write the spline representation of the trajectory out.
Variables
static const double	MAX_ALLOWABLE_TIME = FLT_MAX

Detailed Description

Author:: Mrinal Kalakrishnan; Sachin Chitta

Typedef Documentation

typedef ::spline_smoother::LSPBSplineCoefficients_<std::allocator<void> > spline_smoother::LSPBSplineCoefficients

Definition at line 103 of file LSPBSplineCoefficients.h.

typedef boost::shared_ptr< ::spline_smoother::LSPBSplineCoefficients const> spline_smoother::LSPBSplineCoefficientsConstPtr

Definition at line 106 of file LSPBSplineCoefficients.h.

typedef boost::shared_ptr< ::spline_smoother::LSPBSplineCoefficients> spline_smoother::LSPBSplineCoefficientsPtr

Definition at line 105 of file LSPBSplineCoefficients.h.

typedef ::spline_smoother::LSPBTrajectoryMsg_<std::allocator<void> > spline_smoother::LSPBTrajectoryMsg

Definition at line 138 of file LSPBTrajectoryMsg.h.

typedef boost::shared_ptr< ::spline_smoother::LSPBTrajectoryMsg const> spline_smoother::LSPBTrajectoryMsgConstPtr

Definition at line 141 of file LSPBTrajectoryMsg.h.

typedef boost::shared_ptr< ::spline_smoother::LSPBTrajectoryMsg> spline_smoother::LSPBTrajectoryMsgPtr

Definition at line 140 of file LSPBTrajectoryMsg.h.

typedef ::spline_smoother::LSPBTrajectorySegmentMsg_<std::allocator<void> > spline_smoother::LSPBTrajectorySegmentMsg

Definition at line 101 of file LSPBTrajectorySegmentMsg.h.

typedef boost::shared_ptr< ::spline_smoother::LSPBTrajectorySegmentMsg const> spline_smoother::LSPBTrajectorySegmentMsgConstPtr

Definition at line 104 of file LSPBTrajectorySegmentMsg.h.

typedef boost::shared_ptr< ::spline_smoother::LSPBTrajectorySegmentMsg> spline_smoother::LSPBTrajectorySegmentMsgPtr

Definition at line 103 of file LSPBTrajectorySegmentMsg.h.

typedef ::spline_smoother::SplineCoefficients_<std::allocator<void> > spline_smoother::SplineCoefficients

Definition at line 86 of file SplineCoefficients.h.

typedef boost::shared_ptr< ::spline_smoother::SplineCoefficients const> spline_smoother::SplineCoefficientsConstPtr

Definition at line 89 of file SplineCoefficients.h.

typedef boost::shared_ptr< ::spline_smoother::SplineCoefficients> spline_smoother::SplineCoefficientsPtr

Definition at line 88 of file SplineCoefficients.h.

typedef ::spline_smoother::SplineTrajectory_<std::allocator<void> > spline_smoother::SplineTrajectory

Definition at line 137 of file SplineTrajectory.h.

typedef boost::shared_ptr< ::spline_smoother::SplineTrajectory const> spline_smoother::SplineTrajectoryConstPtr

Definition at line 140 of file SplineTrajectory.h.

typedef boost::shared_ptr< ::spline_smoother::SplineTrajectory> spline_smoother::SplineTrajectoryPtr

Definition at line 139 of file SplineTrajectory.h.

typedef ::spline_smoother::SplineTrajectorySegment_<std::allocator<void> > spline_smoother::SplineTrajectorySegment

Definition at line 100 of file SplineTrajectorySegment.h.

typedef boost::shared_ptr< ::spline_smoother::SplineTrajectorySegment const> spline_smoother::SplineTrajectorySegmentConstPtr

Definition at line 103 of file SplineTrajectorySegment.h.

typedef boost::shared_ptr< ::spline_smoother::SplineTrajectorySegment> spline_smoother::SplineTrajectorySegmentPtr

Definition at line 102 of file SplineTrajectorySegment.h.

Function Documentation

template<typename T >

bool spline_smoother::checkTrajectoryConsistency ( T & waypoint_traj ) [inline]

Ensures the consistency of a WaypointTrajWithLimits message, and resizes vel and acc arrays.

Ensures that the number of (joint) names matches the number of positions in each waypoint Resizes the velocities and accelerations for every waypoint, filling in zeros if necessary Ensures that time is strictly increasing

Definition at line 122 of file spline_smoother_utils.h.

template<typename T >

void spline_smoother::differentiate	(	const std::vector< T > &	x,
		std::vector< T > &	xd
	)			`[inline]`

Definition at line 77 of file spline_smoother_utils.h.

bool spline_smoother::findSplineSegment	(	const spline_smoother::LSPBTrajectoryMsg &	spline,
		const double &	time,
		spline_smoother::LSPBTrajectorySegmentMsg &	spline_segment,
		double &	segment_time,
		int	start_index = `0`,
		int	end_index = `-1`
	)

Definition at line 97 of file spline_smoother_utils.cpp.

bool spline_smoother::findSplineSegment	(	const spline_smoother::SplineTrajectory &	spline,
		const double &	time,
		spline_smoother::SplineTrajectorySegment &	spline_segment,
		double &	segment_time,
		int	start_index = `0`,
		int	end_index = `-1`
	)

Internal function that helps determine which spline segment corresponds to an input time.

Returns:: true on success, false if any failure occurs

Parameters:

	spline	The input spline representation of the trajectory
	time	Time at which trajectory needs to be sampled. time = 0.0 corresponds to start of the trajectory.
	spline_segment	Reference to output spline segment containing the waypoint corresponding to the desired time
	segment_time	Reference to output segment time corresponding to the waypoint in trajectory at the (absolute) input time. segment_time = 0.0 corresponds to the start of this spline segment.
	start_index	(optional) parameter to specify the starting index to start the (linear) search for required input time
	end_index	(optional) parameter to specify the end index for the (linear) search for required input time

Definition at line 55 of file spline_smoother_utils.cpp.

static void spline_smoother::generatePowers	(	int	n,
		double	x,
		double *	powers
	)			`[inline, static]`

Definition at line 88 of file splines.h.

void spline_smoother::getCubicSplineCoefficients	(	double	start_pos,
		double	start_vel,
		double	end_pos,
		double	end_vel,
		double	time,
		std::vector< double > &	coefficients
	)			`[inline]`

Calculates cubic spline coefficients given the start and end way-points.

The input to this function is the start and end way-point, with position, velocity and the duration of the spline segment. (assumes that the spline runs from 0 to time)

Returns 4 coefficients of the quintic polynomial in the "coefficients" vector. The spline can then be sampled as: x = coefficients[0]*t^0 + coefficients[1]*t^1 ... coefficients[3]*t^3

Definition at line 146 of file splines.h.

void spline_smoother::getQuinticSplineCoefficients	(	double	start_pos,
		double	start_vel,
		double	start_acc,
		double	end_pos,
		double	end_vel,
		double	end_acc,
		double	time,
		std::vector< double > &	coefficients
	)			`[inline]`

Calculates quintic spline coefficients given the start and end way-points.

The input to this function is the start and end way-point, with position, velocity and acceleration, and the duration of the spline segment. (assumes that the spline runs from 0 to time)

Returns 6 coefficients of the quintic polynomial in the "coefficients" vector. The spline can then be sampled as: x = coefficients[0]*t^0 + coefficients[1]*t^1 ... coefficients[5]*t^5

Definition at line 97 of file splines.h.

bool spline_smoother::getTotalTime	(	const spline_smoother::LSPBTrajectoryMsg &	spline,
		double &	t
	)

Get the total time for the provided spline trajectory.

Returns:: true on success, false if any failure occurs

Parameters:

	spline	The input spline representation of the trajectory.
	t	A reference that will be filled in with the total time for the input spline trajectory.

Definition at line 158 of file spline_smoother_utils.cpp.

bool spline_smoother::getTotalTime	(	const spline_smoother::SplineTrajectory &	spline,
		double &	t
	)

Get the total time for the provided spline trajectory.

Returns:: true on success, false if any failure occurs

Parameters:

	spline	The input spline representation of the trajectory.
	t	A reference that will be filled in with the total time for the input spline trajectory.

Definition at line 140 of file spline_smoother_utils.cpp.

double spline_smoother::jointDiff	(	const double &	from,
		const double &	to,
		const motion_planning_msgs::JointLimits &	limit
	)			`[inline]`

An internal helper function that uses information about the joint to compute proper angular differences if the joint is a rotary joint with limits.

Returns:: if(limit.angle_wraparound) return angles::shortest_angular_distance(from,to) else return (to-from)

Parameters:

	from	The start position of the joint
	to	The end position of the joint
	limit	A set of position, velocity and acceleration limits for this particular joint

Definition at line 169 of file spline_smoother_utils.h.