spline_smoother_utils.h File Reference

#include <arm_navigation_msgs/JointTrajectoryWithLimits.h>
#include <trajectory_msgs/JointTrajectory.h>
#include <arm_navigation_msgs/JointLimits.h>
#include <spline_smoother/LSPBTrajectoryMsg.h>
#include <spline_smoother/SplineTrajectory.h>
#include <angles/angles.h>
#include <ros/ros.h>
#include <float.h>

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Namespaces
namespace	spline_smoother
Functions
template<typename T >
bool	spline_smoother::checkTrajectoryConsistency (T &waypoint_traj)
	Ensures the consistency of a WaypointTrajWithLimits message, and resizes vel and acc arrays.
template<typename T >
void	spline_smoother::differentiate (const std::vector< T > &x, std::vector< T > &xd)
bool	spline_smoother::findSplineSegment (const spline_smoother::SplineTrajectory &spline, const double &time, spline_smoother::SplineTrajectorySegment &spline_segment, double &segment_time, int start_index=0, int end_index=-1)
	Internal function that helps determine which spline segment corresponds to an input time.
bool	spline_smoother::findSplineSegment (const spline_smoother::LSPBTrajectoryMsg &spline, const double &time, spline_smoother::LSPBTrajectorySegmentMsg &spline_segment, double &segment_time, int start_index=0, int end_index=-1)
bool	spline_smoother::getTotalTime (const spline_smoother::SplineTrajectory &spline, double &t)
	Get the total time for the provided spline trajectory.
bool	spline_smoother::getTotalTime (const spline_smoother::LSPBTrajectoryMsg &spline, double &t)
	Get the total time for the provided spline trajectory.
double	spline_smoother::jointDiff (const double &from, const double &to, const arm_navigation_msgs::JointLimits &limit)
	An internal helper function that uses information about the joint to compute proper angular differences if the joint is a rotary joint with limits.
bool	spline_smoother::sampleSplineTrajectory (const spline_smoother::SplineTrajectorySegment &spline, const double &input_time, trajectory_msgs::JointTrajectoryPoint &point_out)
bool	spline_smoother::sampleSplineTrajectory (const spline_smoother::LSPBTrajectorySegmentMsg &spline, const double &input_time, trajectory_msgs::JointTrajectoryPoint &point_out)
bool	spline_smoother::sampleSplineTrajectory (const spline_smoother::SplineTrajectory &spline, const std::vector< double > &times, trajectory_msgs::JointTrajectory &traj_out)
bool	spline_smoother::sampleSplineTrajectory (const spline_smoother::LSPBTrajectoryMsg &spline, const std::vector< double > &times, trajectory_msgs::JointTrajectory &traj_out)
template<typename T >
void	spline_smoother::tridiagonalSolve (std::vector< T > &a, std::vector< T > &b, std::vector< T > &c, std::vector< T > &d, std::vector< T > &x)
	Solves the tridiagonal system of equations, Ax = d A is an n by n square matrix which consists of: diagonal b (0 ... n-1) upper diagonal c (0 ... n-2) lower diagonal a (0 ... n-1)
bool	spline_smoother::write (const spline_smoother::SplineTrajectory &spline, const std::vector< double > &times, const std::string &filename)
	Write the trajectory out to a file after sampling at the specified times.
bool	spline_smoother::write (const spline_smoother::LSPBTrajectoryMsg &spline, const std::vector< double > &times, const std::string &filename)
	Write the trajectory out to a file after sampling at the specified times.
bool	spline_smoother::writeSpline (const spline_smoother::SplineTrajectory &spline, const std::string &filename)
	Write the spline representation of the trajectory out.
bool	spline_smoother::writeSpline (const spline_smoother::LSPBTrajectoryMsg &spline, const std::string &filename)
	Write the spline representation of the trajectory out.
Variables
static const double	spline_smoother::MAX_ALLOWABLE_TIME = FLT_MAX