iterative_smoother.h
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00034 
00037 #ifndef ITERATIVE_PARABOLIC_SMOOTHER_H_
00038 #define ITERATIVE_PARABOLIC_SMOOTHER_H_
00039 
00040 #include <spline_smoother/spline_smoother.h>
00041 #include <trajectory_msgs/JointTrajectoryPoint.h>
00042 
00043 namespace constraint_aware_spline_smoother
00044 {
00045 
00048 template <typename T>
00049 class IterativeParabolicSmoother : public spline_smoother::SplineSmoother<T>
00050 {
00051 public:
00052   IterativeParabolicSmoother();
00053   ~IterativeParabolicSmoother();
00054 
00056   virtual bool configure();
00057 
00060   virtual bool smooth(const T& trajectory_in, T& trajectory_out) const;
00061 
00062 private:
00063   int                   max_iterations_;                                        
00064   double        max_time_change_per_it_;        
00065 
00066   void applyVelocityConstraints(T& trajectory, std::vector<double> &time_diff) const;
00067   void applyAccelerationConstraints(const T& trajectory, std::vector<double> & time_diff) const;
00068   double findT1( const double d1, const double d2, double t1, const double t2, const double a_max) const;
00069   double findT2( const double d1, const double d2, const double t1, double t2, const double a_max) const;
00070   void printStats(const T& trajectory) const;
00071   void printPoint(const trajectory_msgs::JointTrajectoryPoint& point, unsigned int i) const;
00072 };
00073 
00074 }
00075 
00076 #endif


constraint_aware_spline_smoother
Author(s): Sachin Chitta
autogenerated on Thu Dec 12 2013 11:10:27