iterative_time_parameterization.h
Go to the documentation of this file.
1 /*********************************************************************
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2011, Willow Garage, Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of Willow Garage nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *********************************************************************/
34 
35 /* Author: Ken Anderson */
36 
37 #pragma once
38 
40 
41 namespace trajectory_processing
42 {
45 class IterativeParabolicTimeParameterization
46 {
47 public:
48  IterativeParabolicTimeParameterization(unsigned int max_iterations = 100, double max_time_change_per_it = .01);
50 
51  bool computeTimeStamps(robot_trajectory::RobotTrajectory& trajectory, const double max_velocity_scaling_factor = 1.0,
52  const double max_acceleration_scaling_factor = 1.0) const;
53 
54 private:
55  unsigned int max_iterations_;
57 
58  void applyVelocityConstraints(robot_trajectory::RobotTrajectory& rob_trajectory, std::vector<double>& time_diff,
59  const double max_velocity_scaling_factor) const;
60 
61  void applyAccelerationConstraints(robot_trajectory::RobotTrajectory& rob_trajectory, std::vector<double>& time_diff,
62  const double max_acceleration_scaling_factor) const;
63 
64  double findT1(const double d1, const double d2, double t1, const double t2, const double a_max) const;
65  double findT2(const double d1, const double d2, const double t1, double t2, const double a_max) const;
66 };
67 } // namespace trajectory_processing
trajectory_processing::IterativeParabolicTimeParameterization::max_iterations_
unsigned int max_iterations_
Definition: iterative_time_parameterization.h:119
robot_trajectory.h
trajectory_processing::IterativeParabolicTimeParameterization::~IterativeParabolicTimeParameterization
~IterativeParabolicTimeParameterization()=default
robot_trajectory::RobotTrajectory
Maintain a sequence of waypoints and the time durations between these waypoints.
Definition: robot_trajectory.h:83
trajectory_processing::IterativeParabolicTimeParameterization::IterativeParabolicTimeParameterization
IterativeParabolicTimeParameterization(unsigned int max_iterations=100, double max_time_change_per_it=.01)
Definition: iterative_time_parameterization.cpp:79
trajectory_processing::IterativeParabolicTimeParameterization::findT1
double findT1(const double d1, const double d2, double t1, const double t2, const double a_max) const
Definition: iterative_time_parameterization.cpp:178
trajectory_processing::IterativeParabolicTimeParameterization::computeTimeStamps
bool computeTimeStamps(robot_trajectory::RobotTrajectory &trajectory, const double max_velocity_scaling_factor=1.0, const double max_acceleration_scaling_factor=1.0) const
Definition: iterative_time_parameterization.cpp:490
trajectory_processing
Definition: iterative_spline_parameterization.h:42
trajectory_processing::IterativeParabolicTimeParameterization::applyVelocityConstraints
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
Definition: iterative_time_parameterization.cpp:131
trajectory_processing::IterativeParabolicTimeParameterization::findT2
double findT2(const double d1, const double d2, const double t1, double t2, const double a_max) const
Definition: iterative_time_parameterization.cpp:197
trajectory_processing::IterativeParabolicTimeParameterization::applyAccelerationConstraints
void applyAccelerationConstraints(robot_trajectory::RobotTrajectory &rob_trajectory, std::vector< double > &time_diff, const double max_acceleration_scaling_factor) const
Definition: iterative_time_parameterization.cpp:330
trajectory_processing::IterativeParabolicTimeParameterization::max_time_change_per_it_
double max_time_change_per_it_
maximum number of iterations to find solution
Definition: iterative_time_parameterization.h:120


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sat Dec 12 2020 03:25:44