Classes
class	DistanceCheckerBase
	A base class for a distance checker. ObstacleDistance returns the radius of a L-z norm guaranteed to be collision-free. ObstacleDistanceNorm returns the value of z. More...
class	DynamicPath
	A bounded-velocity, bounded-acceleration trajectory consisting of parabolic ramps. More...
class	FeasibilityCheckerBase
	A base class for a feasibility checker. More...
class	ParabolicRamp
class	ParabolicRamp1D
	Stores optimal trajectores for an acceleration and velocity-bounded 1D system. More...
class	ParabolicRampND
	Solves for optimal trajectores for a velocity-bounded ND system. More...
class	PLPRamp
class	PPRamp
class	RampFeasibilityChecker
	A class that encapsulates feaibility checking of a ParabolicRampND. More...
struct	RampSection
class	RandomNumberGeneratorBase
	A custom random number generator that can be provided to DynamicPath::Shortcut() More...
class	Timer
Typedefs
typedef double	Real
typedef timeval	TimerCounterType
typedef std::vector< double >	Vector
Functions
Real	Abs (Real x)
Real	BrakeAccel (Real x, Real v, Real xbound)
Real	BrakeTime (Real x, Real v, Real xbound)
bool	CheckRamp (const ParabolicRampND &ramp, FeasibilityCheckerBase feas, DistanceCheckerBase distance, int maxiters)
	Checks whether the ramp is feasible using exact checking.
bool	CheckRamp (const ParabolicRampND &ramp, FeasibilityCheckerBase *space, Real tol)
void	CombineRamps (const std::vector< std::vector< ParabolicRamp1D > > &ramps, std::vector< ParabolicRampND > &ndramps)
	Combines an array of 1-d ramp sequences into a sequence of N-d ramps.
bool	FuzzyEquals (Real x, Real y, Real tol)
bool	FuzzyZero (Real x, Real tol)
bool	InBounds (const Vector &x, const Vector &bmin, const Vector &bmax)
bool	IsFinite (Real x)
bool	IsInf (Real x)
Real	LInfDistance (const Vector &a, const Vector &b)
bool	LoadRamp (FILE *f, Real &x0, Real &dx0, Real &x1, Real &dx1, Real &a, Real &v, Real &t)
bool	LoadRamp (const char *fn, Real &x0, Real &dx0, Real &x1, Real &dx1, Real &a, Real &v, Real &t)
Real	Max (Real x, Real y)
Real	MaxBBLInfDistance (const Vector &x, const Vector &bmin, const Vector &bmax)
Real	Min (Real x, Real y)
int	quadratic (Real a, Real b, Real c, Real &x1, Real &x2)
Real	Rand ()
bool	SaveRamp (const char *fn, Real x0, Real dx0, Real x1, Real dx1, Real a, Real v, Real t)
Real	Sign (Real x)
bool	SolveMinAccelBounded (Real x0, Real v0, Real x1, Real v1, Real endTime, Real vmax, Real xmin, Real xmax, std::vector< ParabolicRamp1D > &ramps)
bool	SolveMinAccelBounded (const Vector &x0, const Vector &v0, const Vector &x1, const Vector &v1, Real endTime, const Vector &vmax, const Vector &xmin, const Vector &xmax, std::vector< std::vector< ParabolicRamp1D > > &ramps)
bool	SolveMinAccelBounded (const Vector &x0, const Vector &v0, const Vector &x1, const Vector &v1, Real endTime, const Vector &vmax, const Vector &xmin, const Vector &xmax, vector< vector< ParabolicRamp1D > > &ramps)
bool	SolveMinTime (const Vector &x0, const Vector &dx0, const Vector &x1, const Vector &dx1, const Vector &accMax, const Vector &velMax, const Vector &xMin, const Vector &xMax, DynamicPath &out)
bool	SolveMinTimeBounded (Real x0, Real v0, Real x1, Real v1, Real amax, Real vmax, Real xmin, Real xmax, ParabolicRamp1D &ramp)
Real	SolveMinTimeBounded (const Vector &x0, const Vector &v0, const Vector &x1, const Vector &v1, const Vector &amax, const Vector &vmax, const Vector &xmin, const Vector &xmax, std::vector< std::vector< ParabolicRamp1D > > &ramps)
Real	SolveMinTimeBounded (const Vector &x0, const Vector &v0, const Vector &x1, const Vector &v1, const Vector &amax, const Vector &vmax, const Vector &xmin, const Vector &xmax, vector< vector< ParabolicRamp1D > > &ramps)
Real	Sqr (Real x)
Real	Sqrt (Real x)
void	Swap (Real &x, Real &y)
void	TestRamps (const char *fn)
Variables
static const Real	EpsilonA = 1e-6
	tolerance for acceleration equality
static const Real	EpsilonT = 1e-6
	tolerance for time equality
static const Real	EpsilonV = 1e-5
	tolerance for velocity equality
static const Real	EpsilonX = 1e-5
	tolerance for position equality
static const bool	gErrorGetchar = true
	whether or not to pause on serious errors
static const bool	gErrorSave = true
	whether or not errors are logged to disk
static bool	gMinAccelQuiet = false
static bool	gMinTime2Quiet = false
static bool	gSuppressSavingRamps = false
static const int	gValidityCheckLevel = 2
static const int	gVerbose = 2
static const Real	Inf = 1e300

Typedef Documentation

typedef double ParabolicRamp::Real

Definition at line 40 of file Math.h.

typedef timeval ParabolicRamp::TimerCounterType

Definition at line 18 of file Timer.h.

typedef std::vector<double> ParabolicRamp::Vector

Definition at line 41 of file Math.h.

Function Documentation

Real ParabolicRamp::Abs ( Real x ) [inline]

Definition at line 50 of file Math.h.

Real ParabolicRamp::BrakeAccel	(	Real	x,
		Real	v,
		Real	xbound
	)		`[inline]`

Definition at line 2272 of file ParabolicRamp.cpp.

Real ParabolicRamp::BrakeTime	(	Real	x,
		Real	v,
		Real	xbound
	)		`[inline]`

Definition at line 2267 of file ParabolicRamp.cpp.

bool ParabolicRamp::CheckRamp	(	const ParabolicRampND &	ramp,
		FeasibilityCheckerBase *	feas,
		DistanceCheckerBase *	distance,
		int	maxiters
	)

Checks whether the ramp is feasible using exact checking.

Definition at line 428 of file DynamicPath.cpp.

bool ParabolicRamp::CheckRamp	(	const ParabolicRampND &	ramp,
		FeasibilityCheckerBase *	space,
		Real	tol
	)

Checks whether the ramp is feasible using a piecewise linear approximation with tolerance tol

Definition at line 484 of file DynamicPath.cpp.

void ParabolicRamp::CombineRamps	(	const std::vector< std::vector< ParabolicRamp1D > > &	ramps,
		std::vector< ParabolicRampND > &	ndramps
	)

Combines an array of 1-d ramp sequences into a sequence of N-d ramps.

Definition at line 2661 of file ParabolicRamp.cpp.

bool ParabolicRamp::FuzzyEquals	(	Real	x,
		Real	y,
		Real	tol
	)		`[inline]`

Definition at line 55 of file Math.h.

bool ParabolicRamp::FuzzyZero	(	Real	x,
		Real	tol
	)		`[inline]`

Definition at line 54 of file Math.h.

bool ParabolicRamp::InBounds	(	const Vector &	x,
		const Vector &	bmin,
		const Vector &	bmax
	)		`[inline]`

Definition at line 53 of file DynamicPath.cpp.

bool ParabolicRamp::IsFinite ( Real x ) [inline]

Definition at line 46 of file Math.h.

bool ParabolicRamp::IsInf ( Real x ) [inline]

Definition at line 45 of file Math.h.

Real ParabolicRamp::LInfDistance	(	const Vector &	a,
		const Vector &	b
	)		`[inline]`

Definition at line 44 of file DynamicPath.cpp.

bool ParabolicRamp::LoadRamp	(	FILE *	f,
		Real &	x0,
		Real &	dx0,
		Real &	x1,
		Real &	dx1,
		Real &	a,
		Real &	v,
		Real &	t
	)

Definition at line 108 of file ParabolicRamp.cpp.

bool ParabolicRamp::LoadRamp	(	const char *	fn,
		Real &	x0,
		Real &	dx0,
		Real &	x1,
		Real &	dx1,
		Real &	a,
		Real &	v,
		Real &	t
	)

Definition at line 122 of file ParabolicRamp.cpp.

Real ParabolicRamp::Max	(	Real	x,
		Real	y
	)		`[inline]`

Definition at line 53 of file Math.h.

Real ParabolicRamp::MaxBBLInfDistance	(	const Vector &	x,
		const Vector &	bmin,
		const Vector &	bmax
	)		`[inline]`

Definition at line 62 of file DynamicPath.cpp.

Real ParabolicRamp::Min	(	Real	x,
		Real	y
	)		`[inline]`

Definition at line 52 of file Math.h.

int ParabolicRamp::quadratic	(	Real	a,
		Real	b,
		Real	c,
		Real &	x1,
		Real &	x2
	)

Definition at line 48 of file ParabolicRamp.cpp.

Real ParabolicRamp::Rand ( ) [inline]

Definition at line 59 of file Math.h.

bool ParabolicRamp::SaveRamp	(	const char *	fn,
		Real	x0,
		Real	dx0,
		Real	x1,
		Real	dx1,
		Real	a,
		Real	v,
		Real	t
	)

Definition at line 88 of file ParabolicRamp.cpp.

Real ParabolicRamp::Sign ( Real x ) [inline]

Definition at line 51 of file Math.h.

bool ParabolicRamp::SolveMinAccelBounded	(	Real	x0,
		Real	v0,
		Real	x1,
		Real	v1,
		Real	endTime,
		Real	vmax,
		Real	xmin,
		Real	xmax,
		std::vector< ParabolicRamp1D > &	ramps
	)

Computes a sequence of up to three ramps connecting (x0,v0) to (x1,v1) in minimum-acceleration fashion with a fixed end time, under the given velocity and x bounds. Returns true if successful.

Definition at line 2279 of file ParabolicRamp.cpp.

bool ParabolicRamp::SolveMinAccelBounded	(	const Vector &	x0,
		const Vector &	v0,
		const Vector &	x1,
		const Vector &	v1,
		Real	endTime,
		const Vector &	vmax,
		const Vector &	xmin,
		const Vector &	xmax,
		std::vector< std::vector< ParabolicRamp1D > > &	ramps
	)

Vector version of above. Returns true if successful.

bool ParabolicRamp::SolveMinAccelBounded	(	const Vector &	x0,
		const Vector &	v0,
		const Vector &	x1,
		const Vector &	v1,
		Real	endTime,
		const Vector &	vmax,
		const Vector &	xmin,
		const Vector &	xmax,
		vector< vector< ParabolicRamp1D > > &	ramps
	)

Definition at line 2627 of file ParabolicRamp.cpp.

bool ParabolicRamp::SolveMinTime	(	const Vector &	x0,
		const Vector &	dx0,
		const Vector &	x1,
		const Vector &	dx1,
		const Vector &	accMax,
		const Vector &	velMax,
		const Vector &	xMin,
		const Vector &	xMax,
		DynamicPath &	out
	)		`[inline]`

Definition at line 72 of file DynamicPath.cpp.

bool ParabolicRamp::SolveMinTimeBounded	(	Real	x0,
		Real	v0,
		Real	x1,
		Real	v1,
		Real	amax,
		Real	vmax,
		Real	xmin,
		Real	xmax,
		ParabolicRamp1D &	ramp
	)

Computes a min-time ramp from (x0,v0) to (x1,v1) under the given acceleration, velocity, and x bounds. Returns true if successful.

Definition at line 2253 of file ParabolicRamp.cpp.

Real ParabolicRamp::SolveMinTimeBounded	(	const Vector &	x0,
		const Vector &	v0,
		const Vector &	x1,
		const Vector &	v1,
		const Vector &	amax,
		const Vector &	vmax,
		const Vector &	xmin,
		const Vector &	xmax,
		std::vector< std::vector< ParabolicRamp1D > > &	ramps
	)

Vector version of above. Returns the time of the minimum time trajectory, or -1 on failure

Real ParabolicRamp::SolveMinTimeBounded	(	const Vector &	x0,
		const Vector &	v0,
		const Vector &	x1,
		const Vector &	v1,
		const Vector &	amax,
		const Vector &	vmax,
		const Vector &	xmin,
		const Vector &	xmax,
		vector< vector< ParabolicRamp1D > > &	ramps
	)