spline_smoother: cubic_parameterized_trajectory.h Source File

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00034 
00037 #ifndef CUBIC_PARAMETERIZED_TRAJECTORY_H_
00038 #define CUBIC_PARAMETERIZED_TRAJECTORY_H_
00039 
00040 #include <spline_smoother/spline_smoother_utils.h>
00041 #include <spline_smoother/cubic_trajectory.h>
00042 
00043 namespace spline_smoother
00044 {
00048   class CubicParameterizedTrajectory 
00049   {
00050     public:
00051 
00052     CubicParameterizedTrajectory();
00053 
00054     bool parameterize(const trajectory_msgs::JointTrajectory& trajectory_in, 
00055                       const std::vector<arm_navigation_msgs::JointLimits> &limits,
00056                       spline_smoother::SplineTrajectory& spline);
00057 
00058     private:
00059 
00060     double getDistance(const trajectory_msgs::JointTrajectoryPoint &start, 
00061                        const trajectory_msgs::JointTrajectoryPoint &end,
00062                        const std::vector<arm_navigation_msgs::JointLimits> &limits);
00063 
00064     double getVelocityLimit(const trajectory_msgs::JointTrajectoryPoint &start, 
00065                             const trajectory_msgs::JointTrajectoryPoint &end,
00066                             const std::vector<arm_navigation_msgs::JointLimits> &limits);
00067 
00068     double getAccelerationLimit(const trajectory_msgs::JointTrajectoryPoint &start, 
00069                                 const trajectory_msgs::JointTrajectoryPoint &end,
00070                                 const std::vector<arm_navigation_msgs::JointLimits> &limits);
00071 
00072     bool hasAccelerationLimits(const std::vector<arm_navigation_msgs::JointLimits> &limits);
00073 
00074     void getLimit(const trajectory_msgs::JointTrajectoryPoint &start, 
00075                   const trajectory_msgs::JointTrajectoryPoint &end,
00076                   const std::vector<arm_navigation_msgs::JointLimits> &limits,
00077                   arm_navigation_msgs::JointLimits &limit_out);
00078 
00079     double jointDiff(const double &start, 
00080                      const double &end,
00081                      const arm_navigation_msgs::JointLimits &limit);
00082     
00083     void solveCubicSpline(const double &q0,
00084                           const double &q1,
00085                           const double &v0, 
00086                           const double &v1,
00087                           const double &dt,
00088                           std::vector<double> &coefficients);
00089 
00090     static const double EPS_TRAJECTORY = 1.0e-8;
00091 
00092     bool apply_limits_;
00093   };
00094 }
00095 
00096 #endif /* CUBIC_PARAMETERIZED_TRAJECTORY_H_ */