spline_smoother::CubicParameterizedTrajectory Class Reference

#include <cubic_parameterized_trajectory.h>

List of all members.

Public Member Functions
	CubicParameterizedTrajectory ()
bool	parameterize (const trajectory_msgs::JointTrajectory &trajectory_in, const std::vector< arm_navigation_msgs::JointLimits > &limits, spline_smoother::SplineTrajectory &spline)
Private Member Functions
double	getAccelerationLimit (const trajectory_msgs::JointTrajectoryPoint &start, const trajectory_msgs::JointTrajectoryPoint &end, const std::vector< arm_navigation_msgs::JointLimits > &limits)
double	getDistance (const trajectory_msgs::JointTrajectoryPoint &start, const trajectory_msgs::JointTrajectoryPoint &end, const std::vector< arm_navigation_msgs::JointLimits > &limits)
void	getLimit (const trajectory_msgs::JointTrajectoryPoint &start, const trajectory_msgs::JointTrajectoryPoint &end, const std::vector< arm_navigation_msgs::JointLimits > &limits, arm_navigation_msgs::JointLimits &limit_out)
double	getVelocityLimit (const trajectory_msgs::JointTrajectoryPoint &start, const trajectory_msgs::JointTrajectoryPoint &end, const std::vector< arm_navigation_msgs::JointLimits > &limits)
bool	hasAccelerationLimits (const std::vector< arm_navigation_msgs::JointLimits > &limits)
double	jointDiff (const double &start, const double &end, const arm_navigation_msgs::JointLimits &limit)
void	solveCubicSpline (const double &q0, const double &q1, const double &v0, const double &v1, const double &dt, std::vector< double > &coefficients)
Private Attributes
bool	apply_limits_
Static Private Attributes
static const double	EPS_TRAJECTORY = 1.0e-8

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Detailed Description

Definition at line 48 of file cubic_parameterized_trajectory.h.

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Constructor & Destructor Documentation

spline_smoother::CubicParameterizedTrajectory::CubicParameterizedTrajectory

(

)

Definition at line 41 of file cubic_parameterized_trajectory.cpp.

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Member Function Documentation

double spline_smoother::CubicParameterizedTrajectory::getAccelerationLimit	(	const trajectory_msgs::JointTrajectoryPoint &	start,
		const trajectory_msgs::JointTrajectoryPoint &	end,
		const std::vector< arm_navigation_msgs::JointLimits > &	limits
	)			[private]

Definition at line 71 of file cubic_parameterized_trajectory.cpp.

double spline_smoother::CubicParameterizedTrajectory::getDistance	(	const trajectory_msgs::JointTrajectoryPoint &	start,
		const trajectory_msgs::JointTrajectoryPoint &	end,
		const std::vector< arm_navigation_msgs::JointLimits > &	limits
	)			[private]

Definition at line 46 of file cubic_parameterized_trajectory.cpp.

void spline_smoother::CubicParameterizedTrajectory::getLimit	(	const trajectory_msgs::JointTrajectoryPoint &	start,
		const trajectory_msgs::JointTrajectoryPoint &	end,
		const std::vector< arm_navigation_msgs::JointLimits > &	limits,
		arm_navigation_msgs::JointLimits &	limit_out
	)			[private]

Definition at line 93 of file cubic_parameterized_trajectory.cpp.

double spline_smoother::CubicParameterizedTrajectory::getVelocityLimit	(	const trajectory_msgs::JointTrajectoryPoint &	start,
		const trajectory_msgs::JointTrajectoryPoint &	end,
		const std::vector< arm_navigation_msgs::JointLimits > &	limits
	)			[private]

Definition at line 57 of file cubic_parameterized_trajectory.cpp.

bool spline_smoother::CubicParameterizedTrajectory::hasAccelerationLimits

(

const std::vector< arm_navigation_msgs::JointLimits > &

limits

)

[private]

Definition at line 85 of file cubic_parameterized_trajectory.cpp.

double spline_smoother::CubicParameterizedTrajectory::jointDiff	(	const double &	start,
		const double &	end,
		const arm_navigation_msgs::JointLimits &	limit
	)			[private]

Definition at line 113 of file cubic_parameterized_trajectory.cpp.

bool spline_smoother::CubicParameterizedTrajectory::parameterize	(	const trajectory_msgs::JointTrajectory &	trajectory_in,
		const std::vector< arm_navigation_msgs::JointLimits > &	limits,
		spline_smoother::SplineTrajectory &	spline
	)

Definition at line 138 of file cubic_parameterized_trajectory.cpp.

void spline_smoother::CubicParameterizedTrajectory::solveCubicSpline	(	const double &	q0,
		const double &	q1,
		const double &	v0,
		const double &	v1,
		const double &	dt,
		std::vector< double > &	coefficients
	)			[private]

Definition at line 123 of file cubic_parameterized_trajectory.cpp.

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Member Data Documentation

bool spline_smoother::CubicParameterizedTrajectory::apply_limits_ [private]

Definition at line 92 of file cubic_parameterized_trajectory.h.

const double spline_smoother::CubicParameterizedTrajectory::EPS_TRAJECTORY = 1.0e-8 [static, private]

Definition at line 90 of file cubic_parameterized_trajectory.h.

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The documentation for this class was generated from the following files:

• cubic_parameterized_trajectory.h
• cubic_parameterized_trajectory.cpp