Classes
struct	PolyFitRequest
	The Polynomial Fit request data. More...
struct	PolyFitResults
	The Polynomial Fit results data. More...
Functions
bool	applyPolynomialSmoothing (moveit::core::RobotModelConstPtr robot_model, const std::string &group_name, Eigen::MatrixXd &parameters, int poly_order=5, double joint_limit_margin=1e-5)
	Applies a polynomial smoothing method to a trajectory. It checks for joint limits and makes corrections when these are exceeded as a result of the smoothing process.
void	fillVandermondeMatrix (const Eigen::ArrayXd &domain_vals, const int &order, Eigen::MatrixXd &v)
	Generates a Vandermonde matrix from the domain values as described here https://en.wikipedia.org/wiki/Vandermonde_matrix. It uses the poly_order parameter in order to set the size of the matrix.
void	generateMinimumDomainValues (const std::vector< const moveit::core::JointModel * > joint_models, const Eigen::MatrixXd &parameters, Eigen::VectorXd &domain_values)
	Get the polynomial smoother domain values.
PolyFitResults	polyFit (const PolyFitRequest &request)
	Fit a polynomial with fixed indices.

Function Documentation

bool stomp_moveit::utils::polynomial::applyPolynomialSmoothing	(	moveit::core::RobotModelConstPtr	robot_model,
		const std::string &	group_name,
		Eigen::MatrixXd &	parameters,
		int	poly_order = `5`,
		double	joint_limit_margin = `1e-5`
	)

Applies a polynomial smoothing method to a trajectory. It checks for joint limits and makes corrections when these are exceeded as a result of the smoothing process.

Parameters:

robot_model
group_name
parameters
poly_order
joint_limit_margin

Returns:

Definition at line 187 of file polynomial.cpp.

void stomp_moveit::utils::polynomial::fillVandermondeMatrix	(	const Eigen::ArrayXd &	domain_vals,
		const int &	order,
		Eigen::MatrixXd &	v
	)

Generates a Vandermonde matrix from the domain values as described here https://en.wikipedia.org/wiki/Vandermonde_matrix. It uses the poly_order parameter in order to set the size of the matrix.

Parameters:

domain_vals	The domain values
order	The order of the polynomial
v	The output matrix

Definition at line 149 of file polynomial.cpp.

void stomp_moveit::utils::polynomial::generateMinimumDomainValues	(	const std::vector< const moveit::core::JointModel * >	joint_models,
		const Eigen::MatrixXd &	parameters,
		Eigen::VectorXd &	domain_values
	)

Get the polynomial smoother domain values.

The domain values is time. The time is calculated finding the joint that takes the longest given the total distance traveled and its max velocity. This is the dominating joint therefore its time is used as the domain values for the smoothing operation.

Parameters:

joint_models	List of active joint models
parameters	The parameters generated in the previous iteration [num_dimensions x num_timesteps]
domain_values	The time domain values for the trajectory [num_timesteps]

Definition at line 156 of file polynomial.cpp.

PolyFitResults stomp_moveit::utils::polynomial::polyFit ( const PolyFitRequest & request )

Fit a polynomial with fixed indices.

Parameters:

request The polynimal fit request data

Returns:: The polynomial results

Definition at line 49 of file polynomial.cpp.

Classes

Functions

Function Documentation