trajectory_processing Namespace Reference

Classes
class	CircularPathSegment
class	IterativeParabolicTimeParameterization
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...
class	LinearPathSegment
class	Path
class	PathSegment
struct	SingleJointTrajectory
class	TimeOptimalTrajectoryGeneration
class	TimeParameterization
class	Trajectory

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)
	MOVEIT_CLASS_FORWARD (TimeParameterization)
	Base class for trajectory parameterization algorithms. More...
	MOVEIT_CLASS_FORWARD (IterativeParabolicTimeParameterization)
	This class modifies the timestamps of a trajectory to respect velocity and acceleration constraints. More...
	MOVEIT_CLASS_FORWARD (TimeOptimalTrajectoryGeneration)
static double	squared (double d)
std::size_t	trajectoryWaypointCount (const moveit_msgs::RobotTrajectory &trajectory)

Variables
static const double	DEFAULT_ACCEL_MAX = 1.0
static const double	DEFAULT_VEL_MAX = 1.0
constexpr double	EPS = 0.000001
const std::string	LOGNAME = "trajectory_processing.time_optimal_trajectory_generation"
static const double	ROUNDING_THRESHOLD = 0.01

Function Documentation

adjust_two_positions()

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

Definition at line 433 of file iterative_spline_parameterization.cpp.

fit_cubic_spline()

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

static

Definition at line 387 of file iterative_spline_parameterization.cpp.

fit_spline_and_adjust_times()

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

Definition at line 498 of file iterative_spline_parameterization.cpp.

global_adjustment_factor()

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

Definition at line 540 of file iterative_spline_parameterization.cpp.

globalAdjustment()

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

Definition at line 577 of file iterative_spline_parameterization.cpp.

init_times()

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

static

Definition at line 460 of file iterative_spline_parameterization.cpp.

isTrajectoryEmpty()

bool trajectory_processing::isTrajectoryEmpty

(

const moveit_msgs::RobotTrajectory &

trajectory

)

Definition at line 41 of file trajectory_tools.cpp.

MOVEIT_CLASS_FORWARD() [1/3]

trajectory_processing::MOVEIT_CLASS_FORWARD

(

TimeParameterization

)

Base class for trajectory parameterization algorithms.

MOVEIT_CLASS_FORWARD() [2/3]

trajectory_processing::MOVEIT_CLASS_FORWARD

(

IterativeParabolicTimeParameterization

)

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

MOVEIT_CLASS_FORWARD() [3/3]

trajectory_processing::MOVEIT_CLASS_FORWARD

(

TimeOptimalTrajectoryGeneration

)

squared()

static double trajectory_processing::squared ( double  d )

static

Definition at line 311 of file time_optimal_trajectory_generation.cpp.

trajectoryWaypointCount()

std::size_t trajectory_processing::trajectoryWaypointCount

(

const moveit_msgs::RobotTrajectory &

trajectory

)

Definition at line 46 of file trajectory_tools.cpp.

Variable Documentation

DEFAULT_ACCEL_MAX

const double trajectory_processing::DEFAULT_ACCEL_MAX = 1.0

static

Definition at line 44 of file iterative_time_parameterization.cpp.

DEFAULT_VEL_MAX

const double trajectory_processing::DEFAULT_VEL_MAX = 1.0

static

Definition at line 43 of file iterative_time_parameterization.cpp.

EPS

constexpr double trajectory_processing::EPS = 0.000001

Definition at line 50 of file time_optimal_trajectory_generation.cpp.

LOGNAME

const std::string trajectory_processing::LOGNAME = "trajectory_processing.time_optimal_trajectory_generation"

Definition at line 49 of file time_optimal_trajectory_generation.cpp.

ROUNDING_THRESHOLD

const double trajectory_processing::ROUNDING_THRESHOLD = 0.01

static

Definition at line 45 of file iterative_time_parameterization.cpp.