Public Member Functions | Private Member Functions | Private Attributes
spline_smoother::LSPBTrajectory Class Reference

Generates velocities at waypoints by finite differencing. Accelerations are set to zero. More...

#include <lspb_trajectory.h>

List of all members.

Public Member Functions

 LSPBTrajectory ()
bool parameterize (const trajectory_msgs::JointTrajectory &trajectory_in, const std::vector< arm_navigation_msgs::JointLimits > &limits, spline_smoother::LSPBTrajectoryMsg &spline)

Private Member Functions

double blendTime (const double &aa, const double &bb, const double &cc)
double calculateMinimumTime (const trajectory_msgs::JointTrajectoryPoint &start, const trajectory_msgs::JointTrajectoryPoint &end, const std::vector< arm_navigation_msgs::JointLimits > &limits)
double minSegmentTime (const double &q0, const double &q1, const double &v0, const double &v1, const arm_navigation_msgs::JointLimits &limit)

Private Attributes

bool apply_limits_

Detailed Description

Generates velocities at waypoints by finite differencing. Accelerations are set to zero.

Definition at line 48 of file lspb_trajectory.h.


Constructor & Destructor Documentation

Definition at line 41 of file lspb_trajectory.cpp.


Member Function Documentation

double spline_smoother::LSPBTrajectory::blendTime ( const double &  aa,
const double &  bb,
const double &  cc 
) [private]

Definition at line 112 of file lspb_trajectory.cpp.

double spline_smoother::LSPBTrajectory::calculateMinimumTime ( const trajectory_msgs::JointTrajectoryPoint &  start,
const trajectory_msgs::JointTrajectoryPoint &  end,
const std::vector< arm_navigation_msgs::JointLimits > &  limits 
) [private]

Definition at line 46 of file lspb_trajectory.cpp.

double spline_smoother::LSPBTrajectory::minSegmentTime ( const double &  q0,
const double &  q1,
const double &  v0,
const double &  v1,
const arm_navigation_msgs::JointLimits limit 
) [private]

Definition at line 85 of file lspb_trajectory.cpp.

bool spline_smoother::LSPBTrajectory::parameterize ( const trajectory_msgs::JointTrajectory &  trajectory_in,
const std::vector< arm_navigation_msgs::JointLimits > &  limits,
spline_smoother::LSPBTrajectoryMsg spline 
)

Definition at line 136 of file lspb_trajectory.cpp.


Member Data Documentation

Definition at line 74 of file lspb_trajectory.h.


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


spline_smoother
Author(s): Mrinal Kalakrishnan / mail@mrinal.net
autogenerated on Thu Dec 12 2013 11:09:51