This class modifies the timestamps of a trajectory to respect velocity and acceleration constraints. More...
#include <iterative_time_parameterization.h>
Public Member Functions | |
| bool | computeTimeStamps (robot_trajectory::RobotTrajectory &trajectory) const |
| IterativeParabolicTimeParameterization (unsigned int max_iterations=100, double max_time_change_per_it=.01) | |
| ~IterativeParabolicTimeParameterization () | |
Private Member Functions | |
| void | applyAccelerationConstraints (robot_trajectory::RobotTrajectory &rob_trajectory, const std::vector< std::string > &active_joints, const std::vector< moveit_msgs::JointLimits > &limits, std::vector< double > &time_diff) const |
| void | applyVelocityConstraints (robot_trajectory::RobotTrajectory &rob_trajectory, const std::vector< std::string > &active_joints, const std::vector< moveit_msgs::JointLimits > &limits, std::vector< double > &time_diff) const |
| maximum allowed time change per iteration in seconds | |
| double | findT1 (const double d1, const double d2, double t1, const double t2, const double a_max) const |
| double | findT2 (const double d1, const double d2, const double t1, double t2, const double a_max) const |
| void | printPoint (const trajectory_msgs::JointTrajectoryPoint &point, unsigned int i) const |
| void | printStats (const trajectory_msgs::JointTrajectory &trajectory, const std::vector< moveit_msgs::JointLimits > &limits) const |
Private Attributes | |
| unsigned int | max_iterations_ |
| double | max_time_change_per_it_ |
| maximum number of iterations to find solution | |
This class modifies the timestamps of a trajectory to respect velocity and acceleration constraints.
Definition at line 50 of file iterative_time_parameterization.h.
| trajectory_processing::IterativeParabolicTimeParameterization::IterativeParabolicTimeParameterization | ( | unsigned int | max_iterations = 100, |
| double | max_time_change_per_it = .01 |
||
| ) |
Definition at line 49 of file iterative_time_parameterization.cpp.
Definition at line 55 of file iterative_time_parameterization.cpp.
| void trajectory_processing::IterativeParabolicTimeParameterization::applyAccelerationConstraints | ( | robot_trajectory::RobotTrajectory & | rob_trajectory, |
| const std::vector< std::string > & | active_joints, | ||
| const std::vector< moveit_msgs::JointLimits > & | limits, | ||
| std::vector< double > & | time_diff | ||
| ) | const [private] |
Definition at line 330 of file iterative_time_parameterization.cpp.
| void trajectory_processing::IterativeParabolicTimeParameterization::applyVelocityConstraints | ( | robot_trajectory::RobotTrajectory & | rob_trajectory, |
| const std::vector< std::string > & | active_joints, | ||
| const std::vector< moveit_msgs::JointLimits > & | limits, | ||
| std::vector< double > & | time_diff | ||
| ) | const [private] |
maximum allowed time change per iteration in seconds
Definition at line 102 of file iterative_time_parameterization.cpp.
| bool trajectory_processing::IterativeParabolicTimeParameterization::computeTimeStamps | ( | robot_trajectory::RobotTrajectory & | trajectory | ) | const |
Definition at line 483 of file iterative_time_parameterization.cpp.
| double trajectory_processing::IterativeParabolicTimeParameterization::findT1 | ( | const double | d1, |
| const double | d2, | ||
| double | t1, | ||
| const double | t2, | ||
| const double | a_max | ||
| ) | const [private] |
Definition at line 150 of file iterative_time_parameterization.cpp.
| double trajectory_processing::IterativeParabolicTimeParameterization::findT2 | ( | const double | d1, |
| const double | d2, | ||
| const double | t1, | ||
| double | t2, | ||
| const double | a_max | ||
| ) | const [private] |
Definition at line 172 of file iterative_time_parameterization.cpp.
| void trajectory_processing::IterativeParabolicTimeParameterization::printPoint | ( | const trajectory_msgs::JointTrajectoryPoint & | point, |
| unsigned int | i | ||
| ) | const [private] |
Definition at line 58 of file iterative_time_parameterization.cpp.
| void trajectory_processing::IterativeParabolicTimeParameterization::printStats | ( | const trajectory_msgs::JointTrajectory & | trajectory, |
| const std::vector< moveit_msgs::JointLimits > & | limits | ||
| ) | const [private] |
Definition at line 78 of file iterative_time_parameterization.cpp.
unsigned int trajectory_processing::IterativeParabolicTimeParameterization::max_iterations_ [private] |
Definition at line 61 of file iterative_time_parameterization.h.
double trajectory_processing::IterativeParabolicTimeParameterization::max_time_change_per_it_ [private] |
maximum number of iterations to find solution
Definition at line 62 of file iterative_time_parameterization.h.