TrajectoryPlanner Class Reference

#include <TrajectoryPlanner.h>

List of all members.

Public Member Functions
void	absJointConfigurationDifference (const std::vector< double > &p1, const std::vector< double > &p2, std::vector< double > &diff)
double	absJointConfigurationDist (const std::vector< double > &p1, const std::vector< double > &p2)
void	computeDijkstraPath (const std::vector< std::vector< std::vector< double > > > &ik_solutions, const std::vector< bool > &valid_poses, std::vector< std::vector< double > > &path, std::string measure)
void	computeGreedyPath (const std::vector< std::vector< std::vector< double > > > &ik_solutions, const std::vector< bool > &valid_poses, std::vector< std::vector< double > > &path)
void	getMaxJointVelocities (const std::vector< double > v1, const std::vector< double > v2, std::vector< double > &velocities, double &min_time)
void	getMaxJointVelocities (const std::vector< double > v1, const std::vector< double > v2, Eigen::VectorXf &velocities, double &min_time)
void	jointConfigurationDifference (const std::vector< double > &p1, const std::vector< double > &p2, std::vector< double > &diff)
double	jointConfigurationMinTravelTime (const std::vector< double > v1, const std::vector< double > v2)
double	jointDist (double angle1, double angle2, unsigned int joint)
void	planTrajectoryVelocity (const std::vector< std::vector< double > > &joint_traj, std::vector< std::vector< double > > &vel, std::vector< double > &time, const double scale_t=1, const double scale_v=1)
void	planTrajectoryVelocity (const std::vector< std::vector< double > > &joint_traj, const std::vector< tf::Pose > &pose_traj, std::vector< std::vector< double > > &vel, std::vector< double > &time, const double scale_t=1, const double scale_v=1)
	TrajectoryPlanner ()
Public Attributes
std::vector< double >	left_limits_
std::vector< double >	max_velocities_
std::vector< double >	right_limits_

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Detailed Description

Author:

Juergen Hess

Definition at line 14 of file TrajectoryPlanner.h.

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Constructor & Destructor Documentation

TrajectoryPlanner::TrajectoryPlanner

(

)

Author:

Juergen Hess

Definition at line 21 of file TrajectoryPlanner.cpp.

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Member Function Documentation

void TrajectoryPlanner::absJointConfigurationDifference	(	const std::vector< double > &	p1,
		const std::vector< double > &	p2,
		std::vector< double > &	diff
	)

Definition at line 103 of file TrajectoryPlanner.cpp.

double TrajectoryPlanner::absJointConfigurationDist	(	const std::vector< double > &	p1,
		const std::vector< double > &	p2
	)

Definition at line 75 of file TrajectoryPlanner.cpp.

void TrajectoryPlanner::computeDijkstraPath	(	const std::vector< std::vector< std::vector< double > > > &	ik_solutions,
		const std::vector< bool > &	valid_poses,
		std::vector< std::vector< double > > &	path,
		std::string	measure
	)

Definition at line 341 of file TrajectoryPlanner.cpp.

void TrajectoryPlanner::computeGreedyPath	(	const std::vector< std::vector< std::vector< double > > > &	ik_solutions,
		const std::vector< bool > &	valid_poses,
		std::vector< std::vector< double > > &	path
	)

Definition at line 312 of file TrajectoryPlanner.cpp.

void TrajectoryPlanner::getMaxJointVelocities	(	const std::vector< double >	v1,
		const std::vector< double >	v2,
		std::vector< double > &	velocities,
		double &	min_time
	)

Definition at line 152 of file TrajectoryPlanner.cpp.

void TrajectoryPlanner::getMaxJointVelocities	(	const std::vector< double >	v1,
		const std::vector< double >	v2,
		Eigen::VectorXf &	velocities,
		double &	min_time
	)

Definition at line 132 of file TrajectoryPlanner.cpp.

void TrajectoryPlanner::jointConfigurationDifference	(	const std::vector< double > &	p1,
		const std::vector< double > &	p2,
		std::vector< double > &	diff
	)

Definition at line 85 of file TrajectoryPlanner.cpp.

double TrajectoryPlanner::jointConfigurationMinTravelTime	(	const std::vector< double >	v1,
		const std::vector< double >	v2
	)

Definition at line 115 of file TrajectoryPlanner.cpp.

double TrajectoryPlanner::jointDist	(	double	angle1,
		double	angle2,
		unsigned int	joint
	)

Definition at line 62 of file TrajectoryPlanner.cpp.

void TrajectoryPlanner::planTrajectoryVelocity	(	const std::vector< std::vector< double > > &	joint_traj,
		std::vector< std::vector< double > > &	vel,
		std::vector< double > &	time,
		const double	scale_t = 1,
		const double	scale_v = 1
	)

Definition at line 177 of file TrajectoryPlanner.cpp.

void TrajectoryPlanner::planTrajectoryVelocity	(	const std::vector< std::vector< double > > &	joint_traj,
		const std::vector< tf::Pose > &	pose_traj,
		std::vector< std::vector< double > > &	vel,
		std::vector< double > &	time,
		const double	scale_t = 1,
		const double	scale_v = 1
	)

Definition at line 209 of file TrajectoryPlanner.cpp.

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Member Data Documentation

std::vector<double> TrajectoryPlanner::left_limits_

Definition at line 38 of file TrajectoryPlanner.h.

std::vector<double> TrajectoryPlanner::max_velocities_

Definition at line 37 of file TrajectoryPlanner.h.

std::vector<double> TrajectoryPlanner::right_limits_

Definition at line 39 of file TrajectoryPlanner.h.

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

• TrajectoryPlanner.h
• TrajectoryPlanner.cpp