Public Member Functions | Public Attributes
ParabolicRamp::DynamicPath Class Reference

A bounded-velocity, bounded-acceleration trajectory consisting of parabolic ramps. More...

#include <DynamicPath.h>

List of all members.

Public Member Functions

void Append (const Vector &x)
void Append (const Vector &x, const Vector &dx)
void Clear ()
void Concat (const DynamicPath &suffix)
void Derivative (Real t, Vector &dx) const
 DynamicPath ()
bool Empty () const
void Evaluate (Real t, Vector &x) const
void GetMilestones (std::vector< Vector > &x, std::vector< Vector > &dx) const
int GetSegment (Real t, Real &u) const
Real GetTotalTime () const
void Init (const Vector &velMax, const Vector &accMax)
bool IsValid () const
int OnlineShortcut (Real leadTime, Real padTime, RampFeasibilityChecker &check)
int OnlineShortcut (Real leadTime, Real padTime, RampFeasibilityChecker &check, RandomNumberGeneratorBase *rng)
void SetJointLimits (const Vector &qMin, const Vector &qMax)
void SetMilestones (const std::vector< Vector > &x)
void SetMilestones (const std::vector< Vector > &x, const std::vector< Vector > &dx)
int ShortCircuit (RampFeasibilityChecker &check)
int Shortcut (int numIters, RampFeasibilityChecker &check)
int Shortcut (int numIters, RampFeasibilityChecker &check, RandomNumberGeneratorBase *rng)
void Split (Real t, DynamicPath &before, DynamicPath &after) const
bool TryShortcut (Real t1, Real t2, RampFeasibilityChecker &check)

Public Attributes

Vector accMax
std::vector< ParabolicRampNDramps
 The path is stored as a series of ramps.
Vector velMax
Vector xMax
Vector xMin
 The joint limits (optional), velocity bounds, and acceleration bounds.

Detailed Description

A bounded-velocity, bounded-acceleration trajectory consisting of parabolic ramps.

Optionally, joint limits xMin and xMax may be specified as well. If so, then the XXXBounded functions are used for smoothing.

The Shortcut and OnlineShortcut methods can optionally take a custom random number generator (may be useful for multithreading).

Definition at line 113 of file DynamicPath.h.


Constructor & Destructor Documentation

Definition at line 97 of file DynamicPath.cpp.


Member Function Documentation

Definition at line 254 of file DynamicPath.cpp.

void ParabolicRamp::DynamicPath::Append ( const Vector x,
const Vector dx 
)

Definition at line 287 of file DynamicPath.cpp.

Definition at line 119 of file DynamicPath.h.

Definition at line 313 of file DynamicPath.cpp.

void ParabolicRamp::DynamicPath::Derivative ( Real  t,
Vector dx 
) const

Definition at line 155 of file DynamicPath.cpp.

bool ParabolicRamp::DynamicPath::Empty ( ) const [inline]

Definition at line 120 of file DynamicPath.h.

void ParabolicRamp::DynamicPath::Evaluate ( Real  t,
Vector x 
) const

Definition at line 137 of file DynamicPath.cpp.

void ParabolicRamp::DynamicPath::GetMilestones ( std::vector< Vector > &  x,
std::vector< Vector > &  dx 
) const

Definition at line 237 of file DynamicPath.cpp.

int ParabolicRamp::DynamicPath::GetSegment ( Real  t,
Real u 
) const

Definition at line 123 of file DynamicPath.cpp.

Definition at line 116 of file DynamicPath.cpp.

void ParabolicRamp::DynamicPath::Init ( const Vector velMax,
const Vector accMax 
)

Definition at line 100 of file DynamicPath.cpp.

Definition at line 831 of file DynamicPath.cpp.

int ParabolicRamp::DynamicPath::OnlineShortcut ( Real  leadTime,
Real  padTime,
RampFeasibilityChecker check 
)

leadTime: the amount of time before this path should be executable padTime: an approximate bound on the time it takes to check a shortcut

Definition at line 745 of file DynamicPath.cpp.

Definition at line 751 of file DynamicPath.cpp.

void ParabolicRamp::DynamicPath::SetJointLimits ( const Vector qMin,
const Vector qMax 
)

Definition at line 108 of file DynamicPath.cpp.

void ParabolicRamp::DynamicPath::SetMilestones ( const std::vector< Vector > &  x)
void ParabolicRamp::DynamicPath::SetMilestones ( const std::vector< Vector > &  x,
const std::vector< Vector > &  dx 
)

Definition at line 721 of file DynamicPath.cpp.

int ParabolicRamp::DynamicPath::Shortcut ( int  numIters,
RampFeasibilityChecker check 
)

Definition at line 644 of file DynamicPath.cpp.

Definition at line 650 of file DynamicPath.cpp.

void ParabolicRamp::DynamicPath::Split ( Real  t,
DynamicPath before,
DynamicPath after 
) const

Definition at line 351 of file DynamicPath.cpp.

Definition at line 577 of file DynamicPath.cpp.


Member Data Documentation

Definition at line 144 of file DynamicPath.h.

The path is stored as a series of ramps.

Definition at line 146 of file DynamicPath.h.

Definition at line 144 of file DynamicPath.h.

Definition at line 144 of file DynamicPath.h.

The joint limits (optional), velocity bounds, and acceleration bounds.

Definition at line 144 of file DynamicPath.h.


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


constraint_aware_spline_smoother
Author(s): Sachin Chitta
autogenerated on Mon Dec 2 2013 12:37:23