This class modifies the timestamps of a trajectory to respect velocity and acceleration constraints.
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#include <iterative_time_parameterization.h>
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| void | applyAccelerationConstraints (robot_trajectory::RobotTrajectory &rob_trajectory, std::vector< double > &time_diff, const double max_acceleration_scaling_factor) const |
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| void | applyVelocityConstraints (robot_trajectory::RobotTrajectory &rob_trajectory, std::vector< double > &time_diff, const double max_velocity_scaling_factor) const |
| | maximum allowed time change per iteration in seconds More...
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| double | findT1 (const double d1, const double d2, double t1, const double t2, const double a_max) const |
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| double | findT2 (const double d1, const double d2, const double t1, double t2, const double a_max) const |
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This class modifies the timestamps of a trajectory to respect velocity and acceleration constraints.
Definition at line 49 of file iterative_time_parameterization.h.
| trajectory_processing::IterativeParabolicTimeParameterization::IterativeParabolicTimeParameterization |
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unsigned int |
max_iterations = 100, |
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double |
max_time_change_per_it = .01 |
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| trajectory_processing::IterativeParabolicTimeParameterization::~IterativeParabolicTimeParameterization |
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default |
| void trajectory_processing::IterativeParabolicTimeParameterization::applyAccelerationConstraints |
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robot_trajectory::RobotTrajectory & |
rob_trajectory, |
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std::vector< double > & |
time_diff, |
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const double |
max_acceleration_scaling_factor |
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private |
| void trajectory_processing::IterativeParabolicTimeParameterization::applyVelocityConstraints |
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robot_trajectory::RobotTrajectory & |
rob_trajectory, |
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std::vector< double > & |
time_diff, |
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const double |
max_velocity_scaling_factor |
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| bool trajectory_processing::IterativeParabolicTimeParameterization::computeTimeStamps |
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robot_trajectory::RobotTrajectory & |
trajectory, |
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const double |
max_velocity_scaling_factor = 1.0, |
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const double |
max_acceleration_scaling_factor = 1.0 |
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| double trajectory_processing::IterativeParabolicTimeParameterization::findT1 |
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const double |
d1, |
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const double |
d2, |
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double |
t1, |
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const double |
t2, |
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const double |
a_max |
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private |
| double trajectory_processing::IterativeParabolicTimeParameterization::findT2 |
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const double |
d1, |
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const double |
d2, |
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const double |
t1, |
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double |
t2, |
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const double |
a_max |
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private |
| unsigned int trajectory_processing::IterativeParabolicTimeParameterization::max_iterations_ |
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private |
| double trajectory_processing::IterativeParabolicTimeParameterization::max_time_change_per_it_ |
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private |
The documentation for this class was generated from the following files: