Classes
class	IterativeParabolicTimeParameterization
	This class modifies the timestamps of a trajectory to respect velocity and acceleration constraints. More...

class	IterativeSplineParameterization
	This class sets the timestamps of a trajectory to enforce velocity, acceleration constraints. Initial/final velocities and accelerations may be specified in the trajectory. Velocity and acceleration limits are specified in the model. More...

struct	SingleJointTrajectory

Functions
static void	adjust_two_positions (const int n, const double dt[], double x[], double x1[], double x2[], const double x2_i, const double x2_f)

static void	fit_cubic_spline (const int n, const double dt[], const double x[], double x1[], double x2[])

static int	fit_spline_and_adjust_times (const int n, double dt[], const double x[], double x1[], double x2[], const double max_velocity, const double min_velocity, const double max_acceleration, const double min_acceleration, const double tfactor)

static double	global_adjustment_factor (const int n, double dt[], const double x[], double x1[], double x2[], const double max_velocity, const double min_velocity, const double max_acceleration, const double min_acceleration)

void	globalAdjustment (std::vector< SingleJointTrajectory > &t2, int num_joints, const int num_points, std::vector< double > &time_diff)

static void	init_times (const int n, double dt[], const double x[], const double max_velocity, const double min_velocity)

bool	isTrajectoryEmpty (const moveit_msgs::RobotTrajectory &trajectory)

std::size_t	trajectoryWaypointCount (const moveit_msgs::RobotTrajectory &trajectory)

Function Documentation

static void trajectory_processing::adjust_two_positions	(	const int	n,
		const double	dt[],
		double	x[],
		double	x1[],
		double	x2[],
		const double	x2_i,
		const double	x2_f
	)

static

static void trajectory_processing::fit_cubic_spline	(	const int	n,
		const double	dt[],
		const double	x[],
		double	x1[],
		double	x2[]
	)

static

static int trajectory_processing::fit_spline_and_adjust_times	(	const int	n,
		double	dt[],
		const double	x[],
		double	x1[],
		double	x2[],
		const double	max_velocity,
		const double	min_velocity,
		const double	max_acceleration,
		const double	min_acceleration,
		const double	tfactor
	)

static

static double trajectory_processing::global_adjustment_factor	(	const int	n,
		double	dt[],
		const double	x[],
		double	x1[],
		double	x2[],
		const double	max_velocity,
		const double	min_velocity,
		const double	max_acceleration,
		const double	min_acceleration
	)

static

void trajectory_processing::globalAdjustment	(	std::vector< SingleJointTrajectory > &	t2,
		int	num_joints,
		const int	num_points,
		std::vector< double > &	time_diff
	)