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Scales the time intervals stretching them if necessary so that the trajectory conforms to velocity limits. More...
#include <parabolic_blend_shortcutter.h>
Public Member Functions | |
virtual bool | configure () |
Configure the filter with the discretization for returned trajectories. | |
ParabolicBlendShortCutter () | |
Construct the smoother. | |
virtual bool | smooth (const T &trajectory_in, T &trajectory_out) const |
virtual | ~ParabolicBlendShortCutter () |
Private Attributes | |
bool | active_ |
double | discretization_ |
boost::shared_ptr < FeasibilityChecker > | feasibility_checker_ |
int | num_iterations_ |
Scales the time intervals stretching them if necessary so that the trajectory conforms to velocity limits.
Definition at line 231 of file parabolic_blend_shortcutter.h.
constraint_aware_spline_smoother::ParabolicBlendShortCutter< T >::ParabolicBlendShortCutter | ( | ) | [inline] |
Construct the smoother.
Definition at line 272 of file parabolic_blend_shortcutter.h.
constraint_aware_spline_smoother::ParabolicBlendShortCutter< T >::~ParabolicBlendShortCutter | ( | ) | [inline, virtual] |
Definition at line 278 of file parabolic_blend_shortcutter.h.
bool constraint_aware_spline_smoother::ParabolicBlendShortCutter< T >::configure | ( | void | ) | [inline, virtual] |
Configure the filter with the discretization for returned trajectories.
Reimplemented from spline_smoother::SplineSmoother< T >.
Definition at line 252 of file parabolic_blend_shortcutter.h.
bool constraint_aware_spline_smoother::ParabolicBlendShortCutter< T >::smooth | ( | const T & | trajectory_in, | |
T & | trajectory_out | |||
) | const [inline, virtual] |
Implements spline_smoother::SplineSmoother< T >.
Definition at line 283 of file parabolic_blend_shortcutter.h.
bool constraint_aware_spline_smoother::ParabolicBlendShortCutter< T >::active_ [private] |
Definition at line 247 of file parabolic_blend_shortcutter.h.
double constraint_aware_spline_smoother::ParabolicBlendShortCutter< T >::discretization_ [private] |
Definition at line 246 of file parabolic_blend_shortcutter.h.
boost::shared_ptr<FeasibilityChecker> constraint_aware_spline_smoother::ParabolicBlendShortCutter< T >::feasibility_checker_ [private] |
Definition at line 248 of file parabolic_blend_shortcutter.h.
int constraint_aware_spline_smoother::ParabolicBlendShortCutter< T >::num_iterations_ [private] |
Definition at line 245 of file parabolic_blend_shortcutter.h.