iterative_time_parameterization.h
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00034 
00035 /* Author: Ken Anderson */
00036 
00037 #ifndef MOVEIT_TRAJECTORY_PROCESSING_ITERATIVE_PARABOLIC_SMOOTHER_
00038 #define MOVEIT_TRAJECTORY_PROCESSING_ITERATIVE_PARABOLIC_SMOOTHER_
00039 
00040 #include <trajectory_msgs/JointTrajectory.h>
00041 #include <moveit_msgs/JointLimits.h>
00042 #include <moveit_msgs/RobotState.h>
00043 #include <moveit/robot_trajectory/robot_trajectory.h>
00044 
00045 namespace trajectory_processing
00046 {
00047 
00050 class IterativeParabolicTimeParameterization
00051 {
00052 public:
00053   IterativeParabolicTimeParameterization(unsigned int max_iterations = 100,
00054                                          double max_time_change_per_it = .01);
00055   ~IterativeParabolicTimeParameterization();
00056 
00057   bool computeTimeStamps(robot_trajectory::RobotTrajectory& trajectory) const;
00058 
00059 private:
00060 
00061   unsigned int max_iterations_;         
00062   double max_time_change_per_it_;       
00063 
00064   void applyVelocityConstraints(robot_trajectory::RobotTrajectory& rob_trajectory,
00065                                 std::vector<double> &time_diff) const;
00066 
00067   void applyAccelerationConstraints(robot_trajectory::RobotTrajectory& rob_trajectory,
00068                                     std::vector<double> & time_diff) const;
00069 
00070   double findT1( const double d1, const double d2, double t1, const double t2, const double a_max) const;
00071   double findT2( const double d1, const double d2, const double t1, double t2, const double a_max) const;
00072 };
00073 
00074 }
00075 
00076 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Thu Aug 27 2015 13:58:52