Generates velocities at waypoints by finite differencing. Accelerations are set to zero. More...
#include <lspb_trajectory.h>
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_ |
Generates velocities at waypoints by finite differencing. Accelerations are set to zero.
Definition at line 48 of file lspb_trajectory.h.
Definition at line 41 of file lspb_trajectory.cpp.
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.
Definition at line 74 of file lspb_trajectory.h.