$search

DynamicPath Class Reference

A bounded-velocity, bounded-acceleration trajectory consisting of parabolic ramps. More...

#include <DynamicPath.h>

List of all members.

Public Member Functions

void Append (const Vector &x, const Vector &dx)
void Append (const Vector &x)
void Clear ()
void Derivative (Real t, Vector &dx)
 DynamicPath ()
bool Empty () const
void Evaluate (Real t, Vector &x)
void GetMilestones (std::vector< Vector > &x, std::vector< Vector > &dx) const
Real GetTotalTime () const
void Init (const Vector &velMax, const Vector &accMax)
void SetMilestones (const std::vector< Vector > &x, const std::vector< Vector > &dx)
void SetMilestones (const std::vector< Vector > &x)
int ShortCircuit (FeasibilityCheckerBase *, DistanceCheckerBase *)
int ShortCircuit (FeasibilityCheckerBase *, Real tol)
int Shortcut (int numIters, FeasibilityCheckerBase *, DistanceCheckerBase *)
int Shortcut (int numIters, FeasibilityCheckerBase *, Real tol)
bool TryShortcut (Real t1, Real t2, FeasibilityCheckerBase *, DistanceCheckerBase *)
bool TryShortcut (Real t1, Real t2, FeasibilityCheckerBase *, Real tol)

Public Attributes

Vector accMax
std::vector< ParabolicRampNDramps
 The path is stored as a series of ramps.
Vector velMax
 The velocity and acceleration bounds.

Detailed Description

A bounded-velocity, bounded-acceleration trajectory consisting of parabolic ramps.

Definition at line 65 of file DynamicPath.h.


Constructor & Destructor Documentation

DynamicPath::DynamicPath (  ) 

Definition at line 61 of file DynamicPath.cpp.


Member Function Documentation

void DynamicPath::Append ( const Vector x,
const Vector dx 
)

Definition at line 195 of file DynamicPath.cpp.

void DynamicPath::Append ( const Vector x  ) 

Definition at line 176 of file DynamicPath.cpp.

void DynamicPath::Clear (  )  [inline]

Definition at line 70 of file DynamicPath.h.

void DynamicPath::Derivative ( Real  t,
Vector dx 
)

Definition at line 96 of file DynamicPath.cpp.

bool DynamicPath::Empty (  )  const [inline]

Definition at line 71 of file DynamicPath.h.

void DynamicPath::Evaluate ( Real  t,
Vector x 
)

Definition at line 78 of file DynamicPath.cpp.

void DynamicPath::GetMilestones ( std::vector< Vector > &  x,
std::vector< Vector > &  dx 
) const
Real DynamicPath::GetTotalTime (  )  const

Definition at line 71 of file DynamicPath.cpp.

void DynamicPath::Init ( const Vector velMax,
const Vector accMax 
)

Definition at line 64 of file DynamicPath.cpp.

void DynamicPath::SetMilestones ( const std::vector< Vector > &  x,
const std::vector< Vector > &  dx 
)
void DynamicPath::SetMilestones ( const std::vector< Vector > &  x  ) 
int DynamicPath::ShortCircuit ( FeasibilityCheckerBase space,
DistanceCheckerBase dist 
)

Definition at line 730 of file DynamicPath.cpp.

int DynamicPath::ShortCircuit ( FeasibilityCheckerBase space,
Real  tol 
)

Definition at line 626 of file DynamicPath.cpp.

int DynamicPath::Shortcut ( int  numIters,
FeasibilityCheckerBase space,
DistanceCheckerBase distance 
)

Definition at line 650 of file DynamicPath.cpp.

int DynamicPath::Shortcut ( int  numIters,
FeasibilityCheckerBase space,
Real  tol 
)

Definition at line 546 of file DynamicPath.cpp.

bool DynamicPath::TryShortcut ( Real  t1,
Real  t2,
FeasibilityCheckerBase feas,
DistanceCheckerBase dist 
)

Definition at line 478 of file DynamicPath.cpp.

bool DynamicPath::TryShortcut ( Real  t1,
Real  t2,
FeasibilityCheckerBase space,
Real  tol 
)

Definition at line 410 of file DynamicPath.cpp.


Member Data Documentation

Definition at line 88 of file DynamicPath.h.

The path is stored as a series of ramps.

Definition at line 90 of file DynamicPath.h.

The velocity and acceleration bounds.

Definition at line 88 of file DynamicPath.h.


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


constraint_aware_spline_smoother
Author(s): Sachin Chitta
autogenerated on Fri Mar 1 14:19:29 2013