00001 /* 00002 * Copyright (c) 2011, Georgia Tech Research Corporation 00003 * All rights reserved. 00004 * 00005 * Author: Tobias Kunz <tobias@gatech.edu> 00006 * Date: 10/2011 00007 * 00008 * Humanoid Robotics Lab Georgia Institute of Technology 00009 * Director: Mike Stilman http://www.golems.org 00010 * 00011 * Algorithm details and publications: 00012 * http://www.golems.org/node/1570 00013 * 00014 * This file is provided under the following "BSD-style" License: 00015 * Redistribution and use in source and binary forms, with or 00016 * without modification, are permitted provided that the following 00017 * conditions are met: 00018 * * Redistributions of source code must retain the above copyright 00019 * notice, this list of conditions and the following disclaimer. 00020 * * Redistributions in binary form must reproduce the above 00021 * copyright notice, this list of conditions and the following 00022 * disclaimer in the documentation and/or other materials provided 00023 * with the distribution. 00024 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND 00025 * CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, 00026 * INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF 00027 * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 00028 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR 00029 * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, 00030 * SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 00031 * LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF 00032 * USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED 00033 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00034 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00035 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00036 * POSSIBILITY OF SUCH DAMAGE. 00037 */ 00038 00039 #ifndef PARABOLIC_BLEND_SMOOTHER_H_ 00040 #define PARABOLIC_BLEND_SMOOTHER_H_ 00041 00042 #include <list> 00043 #include <vector> 00044 #include <Eigen/Core> 00045 00046 namespace ParabolicBlend { 00047 00048 class Trajectory 00049 { 00050 public: 00051 Trajectory(const std::list<Eigen::VectorXd> &path, const Eigen::VectorXd &maxVelocity, const Eigen::VectorXd &maxAcceleration, double minWayPointSeparation = 0.0); 00052 Eigen::VectorXd getPosition(double time) const; 00053 Eigen::VectorXd getVelocity(double time) const; 00054 double getDuration() const; 00055 private: 00056 std::vector<Eigen::VectorXd> path; 00057 std::vector<Eigen::VectorXd> velocities; 00058 std::vector<Eigen::VectorXd> accelerations; 00059 std::vector<double> durations; 00060 std::vector<double> blendDurations; 00061 double duration; 00062 }; 00063 00064 } 00065 00066 #endif