Scales the time intervals stretching them if necessary so that the trajectory conforms to velocity limits. More...
#include <cubic_spline_velocity_scaler.h>
Public Member Functions | |
CubicSplineVelocityScaler () | |
virtual bool | smooth (const T &trajectory_in, T &trajectory_out) const |
Smooths the input position trajectory by generating velocities and accelerations at the waypoints. | |
virtual | ~CubicSplineVelocityScaler () |
Scales the time intervals stretching them if necessary so that the trajectory conforms to velocity limits.
Definition at line 49 of file cubic_spline_velocity_scaler.h.
spline_smoother::CubicSplineVelocityScaler< T >::CubicSplineVelocityScaler | ( | ) |
Definition at line 60 of file cubic_spline_velocity_scaler.h.
spline_smoother::CubicSplineVelocityScaler< T >::~CubicSplineVelocityScaler | ( | ) | [virtual] |
Definition at line 65 of file cubic_spline_velocity_scaler.h.
bool spline_smoother::CubicSplineVelocityScaler< T >::smooth | ( | const T & | trajectory_in, |
T & | trajectory_out | ||
) | const [virtual] |
Smooths the input position trajectory by generating velocities and accelerations at the waypoints.
This virtual method needs to implemented by the derived class.
Implements spline_smoother::SplineSmoother< T >.
Definition at line 70 of file cubic_spline_velocity_scaler.h.