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

Public Member Functions
	LinearTrajectory ()
bool	parameterize (const trajectory_msgs::JointTrajectory &trajectory_in, const std::vector< arm_navigation_msgs::JointLimits > &limits, spline_smoother::SplineTrajectory &spline)
	A pure virtual function that must be implemented by each different trajectory generation algorithm.
Private Member Functions
double	calculateMinimumTime (const trajectory_msgs::JointTrajectoryPoint &start, const trajectory_msgs::JointTrajectoryPoint &end, const std::vector< arm_navigation_msgs::JointLimits > &limits)
Private Attributes
bool	apply_limits_

Detailed Description

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

Definition at line 47 of file linear_trajectory.h.

Constructor & Destructor Documentation

spline_smoother::LinearTrajectory::LinearTrajectory ( )

Definition at line 42 of file linear_trajectory.cpp.

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

Definition at line 47 of file linear_trajectory.cpp.

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

A pure virtual function that must be implemented by each different trajectory generation algorithm.

Parameters:

trajectory_in	The input trajectory. It could contain position, velocity and acceleration information
spline	The output spline trajectory. The number of spline segments = number of trajectory points - 1

Definition at line 65 of file linear_trajectory.cpp.

Definition at line 70 of file linear_trajectory.h.

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