Generates velocities at waypoints by finite differencing. Accelerations are set to zero. More...

Public Member Functions
	LSPBTrajectory ()
bool	parameterize (const trajectory_msgs::JointTrajectory &trajectory_in, const std::vector< arm_navigation_msgs::JointLimits > &limits, spline_smoother::LSPBTrajectoryMsg &spline)
Private Member Functions
double	blendTime (const double &aa, const double &bb, const double &cc)
double	calculateMinimumTime (const trajectory_msgs::JointTrajectoryPoint &start, const trajectory_msgs::JointTrajectoryPoint &end, const std::vector< arm_navigation_msgs::JointLimits > &limits)
double	minSegmentTime (const double &q0, const double &q1, const double &v0, const double &v1, const arm_navigation_msgs::JointLimits &limit)
Private Attributes
bool	apply_limits_

Detailed Description

Generates velocities at waypoints by finite differencing. Accelerations are set to zero.

Definition at line 48 of file lspb_trajectory.h.

Constructor & Destructor Documentation

spline_smoother::LSPBTrajectory::LSPBTrajectory ( )

Definition at line 41 of file lspb_trajectory.cpp.

double spline_smoother::LSPBTrajectory::blendTime	(	const double &	aa,
		const double &	bb,
		const double &	cc
	)		`[private]`

Definition at line 112 of file lspb_trajectory.cpp.

double spline_smoother::LSPBTrajectory::calculateMinimumTime	(	const trajectory_msgs::JointTrajectoryPoint &	start,
		const trajectory_msgs::JointTrajectoryPoint &	end,
		const std::vector< arm_navigation_msgs::JointLimits > &	limits
	)		`[private]`

Definition at line 46 of file lspb_trajectory.cpp.

double spline_smoother::LSPBTrajectory::minSegmentTime	(	const double &	q0,
		const double &	q1,
		const double &	v0,
		const double &	v1,
		const arm_navigation_msgs::JointLimits &	limit
	)		`[private]`

Definition at line 85 of file lspb_trajectory.cpp.

bool spline_smoother::LSPBTrajectory::parameterize	(	const trajectory_msgs::JointTrajectory &	trajectory_in,
		const std::vector< arm_navigation_msgs::JointLimits > &	limits,
		spline_smoother::LSPBTrajectoryMsg &	spline
	)

Definition at line 136 of file lspb_trajectory.cpp.

Definition at line 74 of file lspb_trajectory.h.

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