iterative_time_parameterization.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

/* Author: Ken Anderson */

#ifndef MOVEIT_TRAJECTORY_PROCESSING_ITERATIVE_PARABOLIC_SMOOTHER_
#define MOVEIT_TRAJECTORY_PROCESSING_ITERATIVE_PARABOLIC_SMOOTHER_

#include <trajectory_msgs/JointTrajectory.h>
#include <moveit_msgs/JointLimits.h>
#include <moveit_msgs/RobotState.h>
#include <moveit/robot_trajectory/robot_trajectory.h>

namespace trajectory_processing
{

class IterativeParabolicTimeParameterization
{
public:
  IterativeParabolicTimeParameterization(unsigned int max_iterations = 100,
                                         double max_time_change_per_it = .01);
  ~IterativeParabolicTimeParameterization();

  bool computeTimeStamps(robot_trajectory::RobotTrajectory& trajectory) const;

private:

  unsigned int max_iterations_;         
  double max_time_change_per_it_;       

  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;

  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;

  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 printStats(const trajectory_msgs::JointTrajectory& trajectory,
                  const std::vector<moveit_msgs::JointLimits>& limits) const;
  void printPoint(const trajectory_msgs::JointTrajectoryPoint& point, unsigned int i) const;
};

}

#endif