Scales the time intervals stretching them if necessary so that the trajectory conforms to velocity limits. More...
#include <linear_spline_shortcutter.h>
Public Member Functions | |
virtual bool | configure () |
Configure the filter with the discretization for returned trajectories. | |
LinearSplineShortCutter () | |
Construct the smoother. | |
virtual bool | smooth (const T &trajectory_in, T &trajectory_out) const |
virtual | ~LinearSplineShortCutter () |
Private Member Functions | |
bool | addToTrajectory (trajectory_msgs::JointTrajectory &trajectory_out, const trajectory_msgs::JointTrajectoryPoint &trajectory_point, const ros::Duration &delta_time) const |
void | discretizeAndAppendSegment (const spline_smoother::SplineTrajectorySegment &spline_segment, const double &discretization, trajectory_msgs::JointTrajectory &joint_trajectory, const ros::Duration &segment_start_time, const bool &include_segment_end) const |
void | discretizeTrajectory (const spline_smoother::SplineTrajectory &spline, const double &discretization, trajectory_msgs::JointTrajectory &joint_trajectory) const |
bool | findTrajectoryPointsInInterval (const trajectory_msgs::JointTrajectory &trajectory, const double &segment_start_time, const double &segment_end_time, int &index_1, int &index_2) const |
int | getRandomInt (int min, int max) const |
double | getRandomTimeStamp (double min, double max) const |
bool | getWaypoints (const spline_smoother::SplineTrajectory &spline, trajectory_msgs::JointTrajectory &joint_trajectory) const |
double | maxLInfDistance (const trajectory_msgs::JointTrajectoryPoint &start, const trajectory_msgs::JointTrajectoryPoint &end) const |
void | printTrajectory (const trajectory_msgs::JointTrajectory &joint_trajectory) const |
void | refineTrajectory (T &trajectory) const |
bool | setupCollisionEnvironment () |
bool | trimTrajectory (trajectory_msgs::JointTrajectory &trajectory_out, const double &segment_start_time, const double &segment_end_time) const |
Private Attributes | |
bool | active_ |
planning_environment::CollisionModelsInterface * | collision_models_interface_ |
double | discretization_ |
ros::NodeHandle | node_handle_ |
Scales the time intervals stretching them if necessary so that the trajectory conforms to velocity limits.
Definition at line 57 of file linear_spline_shortcutter.h.
constraint_aware_spline_smoother::LinearSplineShortCutter< T >::LinearSplineShortCutter | ( | ) |
Construct the smoother.
Definition at line 126 of file linear_spline_shortcutter.h.
constraint_aware_spline_smoother::LinearSplineShortCutter< T >::~LinearSplineShortCutter | ( | ) | [virtual] |
Definition at line 135 of file linear_spline_shortcutter.h.
bool constraint_aware_spline_smoother::LinearSplineShortCutter< T >::addToTrajectory | ( | trajectory_msgs::JointTrajectory & | trajectory_out, |
const trajectory_msgs::JointTrajectoryPoint & | trajectory_point, | ||
const ros::Duration & | delta_time | ||
) | const [private] |
Definition at line 538 of file linear_spline_shortcutter.h.
bool constraint_aware_spline_smoother::LinearSplineShortCutter< T >::configure | ( | void | ) | [virtual] |
Configure the filter with the discretization for returned trajectories.
Reimplemented from spline_smoother::SplineSmoother< T >.
Definition at line 111 of file linear_spline_shortcutter.h.
void constraint_aware_spline_smoother::LinearSplineShortCutter< T >::discretizeAndAppendSegment | ( | const spline_smoother::SplineTrajectorySegment & | spline_segment, |
const double & | discretization, | ||
trajectory_msgs::JointTrajectory & | joint_trajectory, | ||
const ros::Duration & | segment_start_time, | ||
const bool & | include_segment_end | ||
) | const [private] |
Definition at line 394 of file linear_spline_shortcutter.h.
void constraint_aware_spline_smoother::LinearSplineShortCutter< T >::discretizeTrajectory | ( | const spline_smoother::SplineTrajectory & | spline, |
const double & | discretization, | ||
trajectory_msgs::JointTrajectory & | joint_trajectory | ||
) | const [private] |
Definition at line 374 of file linear_spline_shortcutter.h.
bool constraint_aware_spline_smoother::LinearSplineShortCutter< T >::findTrajectoryPointsInInterval | ( | const trajectory_msgs::JointTrajectory & | trajectory, |
const double & | segment_start_time, | ||
const double & | segment_end_time, | ||
int & | index_1, | ||
int & | index_2 | ||
) | const [private] |
Definition at line 482 of file linear_spline_shortcutter.h.
int constraint_aware_spline_smoother::LinearSplineShortCutter< T >::getRandomInt | ( | int | min, |
int | max | ||
) | const [private] |
Definition at line 140 of file linear_spline_shortcutter.h.
double constraint_aware_spline_smoother::LinearSplineShortCutter< T >::getRandomTimeStamp | ( | double | min, |
double | max | ||
) | const [private] |
Definition at line 148 of file linear_spline_shortcutter.h.
bool constraint_aware_spline_smoother::LinearSplineShortCutter< T >::getWaypoints | ( | const spline_smoother::SplineTrajectory & | spline, |
trajectory_msgs::JointTrajectory & | joint_trajectory | ||
) | const [private] |
Definition at line 520 of file linear_spline_shortcutter.h.
double constraint_aware_spline_smoother::LinearSplineShortCutter< T >::maxLInfDistance | ( | const trajectory_msgs::JointTrajectoryPoint & | start, |
const trajectory_msgs::JointTrajectoryPoint & | end | ||
) | const [private] |
Definition at line 438 of file linear_spline_shortcutter.h.
void constraint_aware_spline_smoother::LinearSplineShortCutter< T >::printTrajectory | ( | const trajectory_msgs::JointTrajectory & | joint_trajectory | ) | const [private] |
Definition at line 330 of file linear_spline_shortcutter.h.
void constraint_aware_spline_smoother::LinearSplineShortCutter< T >::refineTrajectory | ( | T & | trajectory | ) | const [private] |
Definition at line 301 of file linear_spline_shortcutter.h.
bool constraint_aware_spline_smoother::LinearSplineShortCutter< T >::setupCollisionEnvironment | ( | ) | [private] |
Definition at line 580 of file linear_spline_shortcutter.h.
bool constraint_aware_spline_smoother::LinearSplineShortCutter< T >::smooth | ( | const T & | trajectory_in, |
T & | trajectory_out | ||
) | const [virtual] |
Implements spline_smoother::SplineSmoother< T >.
Definition at line 156 of file linear_spline_shortcutter.h.
bool constraint_aware_spline_smoother::LinearSplineShortCutter< T >::trimTrajectory | ( | trajectory_msgs::JointTrajectory & | trajectory_out, |
const double & | segment_start_time, | ||
const double & | segment_end_time | ||
) | const [private] |
Definition at line 454 of file linear_spline_shortcutter.h.
bool constraint_aware_spline_smoother::LinearSplineShortCutter< T >::active_ [private] |
Definition at line 71 of file linear_spline_shortcutter.h.
planning_environment::CollisionModelsInterface* constraint_aware_spline_smoother::LinearSplineShortCutter< T >::collision_models_interface_ [private] |
Definition at line 74 of file linear_spline_shortcutter.h.
double constraint_aware_spline_smoother::LinearSplineShortCutter< T >::discretization_ [private] |
Definition at line 72 of file linear_spline_shortcutter.h.
ros::NodeHandle constraint_aware_spline_smoother::LinearSplineShortCutter< T >::node_handle_ [private] |
Definition at line 75 of file linear_spline_shortcutter.h.