iterative_smoother.h
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2011, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of the Willow Garage nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *********************************************************************/
00034 
00037 #ifndef ITERATIVE_PARABOLIC_SMOOTHER_H_
00038 #define ITERATIVE_PARABOLIC_SMOOTHER_H_
00039 
00040 #include <spline_smoother/spline_smoother.h>
00041 #include <trajectory_msgs/JointTrajectoryPoint.h>
00042 
00043 namespace constraint_aware_spline_smoother
00044 {
00045 
00048 template <typename T>
00049 class IterativeParabolicSmoother : public spline_smoother::SplineSmoother<T>
00050 {
00051 public:
00052   IterativeParabolicSmoother();
00053   ~IterativeParabolicSmoother();
00054 
00056   virtual bool configure();
00057 
00060   virtual bool smooth(const T& trajectory_in, T& trajectory_out) const;
00061 
00062 private:
00063   int                   max_iterations_;                                        
00064   double        max_time_change_per_it_;        
00065 
00066   void applyVelocityConstraints(T& trajectory, std::vector<double> &time_diff) const;
00067   void applyAccelerationConstraints(const T& trajectory, std::vector<double> & time_diff) const;
00068   double findT1( const double d1, const double d2, double t1, const double t2, const double a_max) const;
00069   double findT2( const double d1, const double d2, const double t1, double t2, const double a_max) const;
00070   void printStats(const T& trajectory) const;
00071   void printPoint(const trajectory_msgs::JointTrajectoryPoint& point, unsigned int i) const;
00072 };
00073 
00074 }
00075 
00076 #endif


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