constraint_aware_spline_smoother::ParabolicLinearBlendSmoother< T > Class Template Reference

This is a wrapper around Tobias Kunz and Mike Stilman's trajectory smoother using parabolic and linear phases. See http://www.golems.org/node/1570 for more details. This smoother chooses timing intervals between trajectory points that respects both velocity and acceleration constraints. The resulting trajectory uses linear segments parametric blends to smooth the trajectory between points. More...

#include <parabolic_linear_blend.h>

Inheritance diagram for constraint_aware_spline_smoother::ParabolicLinearBlendSmoother< T >:

List of all members.

Public Member Functions
virtual bool	configure ()
	Configures the filter.
	ParabolicLinearBlendSmoother ()
virtual bool	smooth (const T &trajectory_in, T &trajectory_out) const
	Calculates a smooth trajectory based on parabolic blends.
	~ParabolicLinearBlendSmoother ()

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Detailed Description

template<typename T>
class constraint_aware_spline_smoother::ParabolicLinearBlendSmoother< T >

This is a wrapper around Tobias Kunz and Mike Stilman's trajectory smoother using parabolic and linear phases. See http://www.golems.org/node/1570 for more details. This smoother chooses timing intervals between trajectory points that respects both velocity and acceleration constraints. The resulting trajectory uses linear segments parametric blends to smooth the trajectory between points.

Definition at line 53 of file parabolic_linear_blend.h.

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Constructor & Destructor Documentation

template<typename T >

constraint_aware_spline_smoother::ParabolicLinearBlendSmoother< T >::ParabolicLinearBlendSmoother

(

)

[inline]

Definition at line 56 of file parabolic_linear_blend.h.

template<typename T >

constraint_aware_spline_smoother::ParabolicLinearBlendSmoother< T >::~ParabolicLinearBlendSmoother

(

)

[inline]

Definition at line 57 of file parabolic_linear_blend.h.

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Member Function Documentation

template<typename T >

virtual bool constraint_aware_spline_smoother::ParabolicLinearBlendSmoother< T >::configure

(

void

)

[inline, virtual]

Configures the filter.

Reimplemented from spline_smoother::SplineSmoother< T >.

Definition at line 60 of file parabolic_linear_blend.h.

template<typename T >

bool ParabolicLinearBlendSmoother::smooth	(	const T &	trajectory_in,
		T &	trajectory_out
	)		const [virtual]

Calculates a smooth trajectory based on parabolic blends.

Implements spline_smoother::SplineSmoother< T >.

Definition at line 52 of file parabolic_linear_blend.cpp.

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

• parabolic_linear_blend.h
• parabolic_linear_blend.cpp