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

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

#include <linear_trajectory.h>

List of all members.

Public Member Functions

 LinearTrajectory ()
bool parameterize (const trajectory_msgs::JointTrajectory &trajectory_in, const std::vector< arm_navigation_msgs::JointLimits > &limits, spline_smoother::SplineTrajectory &spline)
 A pure virtual function that must be implemented by each different trajectory generation algorithm.

Private Member Functions

double calculateMinimumTime (const trajectory_msgs::JointTrajectoryPoint &start, const trajectory_msgs::JointTrajectoryPoint &end, const std::vector< arm_navigation_msgs::JointLimits > &limits)

Private Attributes

bool apply_limits_

Detailed Description

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

Definition at line 47 of file linear_trajectory.h.


Constructor & Destructor Documentation

Definition at line 42 of file linear_trajectory.cpp.


Member Function Documentation

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

Definition at line 47 of file linear_trajectory.cpp.

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

A pure virtual function that must be implemented by each different trajectory generation algorithm.

Returns:
true on success, false if any failure occurs
Parameters:
trajectory_inThe input trajectory. It could contain position, velocity and acceleration information
splineThe output spline trajectory. The number of spline segments = number of trajectory points - 1

Definition at line 65 of file linear_trajectory.cpp.


Member Data Documentation

Definition at line 70 of file linear_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