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	IterativeTorqueLimitParameterization
class	LinearPathSegment
class	Path
class	PathSegment
class	RuckigSmoothing
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 double	global_adjustment_factor (const int n, 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)
bool	limitMaxCartesianLinkSpeed (robot_trajectory::RobotTrajectory &trajectory, const double speed, const moveit::core::LinkModel *link_model)
bool	limitMaxCartesianLinkSpeed (robot_trajectory::RobotTrajectory &trajectory, const double speed, const std::string &link_name="")
	MOVEIT_CLASS_FORWARD (IterativeParabolicTimeParameterization)
	This class modifies the timestamps of a trajectory to respect velocity and acceleration constraints. More...
	MOVEIT_CLASS_FORWARD (RobotTrajectory)
	MOVEIT_CLASS_FORWARD (TimeOptimalTrajectoryGeneration)
	MOVEIT_CLASS_FORWARD (TimeParameterization)
	Base class for trajectory parameterization algorithms. More...
std::size_t	trajectoryWaypointCount (const moveit_msgs::RobotTrajectory &trajectory)

Variables
static const double	DEFAULT_ACCEL_MAX = 1.0
constexpr double	DEFAULT_ACCELERATION_LIMIT = 1.0
static const double	DEFAULT_VEL_MAX = 1.0
constexpr double	DEFAULT_VELOCITY_LIMIT = 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 429 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 383 of file iterative_spline_parameterization.cpp.

global_adjustment_factor()

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

static

Definition at line 538 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 573 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 456 of file iterative_spline_parameterization.cpp.

isTrajectoryEmpty()

bool trajectory_processing::isTrajectoryEmpty

(

const moveit_msgs::RobotTrajectory &

trajectory

)

Definition at line 73 of file trajectory_tools.cpp.

limitMaxCartesianLinkSpeed() [1/2]

bool trajectory_processing::limitMaxCartesianLinkSpeed	(	robot_trajectory::RobotTrajectory &	trajectory,
		const double	speed,
		const moveit::core::LinkModel *	link_model
	)

Definition at line 83 of file limit_cartesian_speed.cpp.

limitMaxCartesianLinkSpeed() [2/2]

bool trajectory_processing::limitMaxCartesianLinkSpeed	(	robot_trajectory::RobotTrajectory &	trajectory,
		const double	speed,
		const std::string &	link_name = ""
	)

Definition at line 46 of file limit_cartesian_speed.cpp.

MOVEIT_CLASS_FORWARD() [1/4]

trajectory_processing::MOVEIT_CLASS_FORWARD

(

IterativeParabolicTimeParameterization

)

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

MOVEIT_CLASS_FORWARD() [2/4]

trajectory_processing::MOVEIT_CLASS_FORWARD

(

RobotTrajectory

)

MOVEIT_CLASS_FORWARD() [3/4]

trajectory_processing::MOVEIT_CLASS_FORWARD

(

TimeOptimalTrajectoryGeneration

)

MOVEIT_CLASS_FORWARD() [4/4]

trajectory_processing::MOVEIT_CLASS_FORWARD

(

TimeParameterization

)

Base class for trajectory parameterization algorithms.

trajectoryWaypointCount()

std::size_t trajectory_processing::trajectoryWaypointCount

(

const moveit_msgs::RobotTrajectory &

trajectory

)

Definition at line 78 of file trajectory_tools.cpp.

Variable Documentation

DEFAULT_ACCEL_MAX

const double trajectory_processing::DEFAULT_ACCEL_MAX = 1.0

static

Definition at line 76 of file iterative_time_parameterization.cpp.

DEFAULT_ACCELERATION_LIMIT

constexpr double trajectory_processing::DEFAULT_ACCELERATION_LIMIT = 1.0

constexpr

Definition at line 52 of file time_optimal_trajectory_generation.cpp.

DEFAULT_VEL_MAX

const double trajectory_processing::DEFAULT_VEL_MAX = 1.0

static

Definition at line 75 of file iterative_time_parameterization.cpp.

DEFAULT_VELOCITY_LIMIT

constexpr double trajectory_processing::DEFAULT_VELOCITY_LIMIT = 1.0

constexpr

Definition at line 51 of file time_optimal_trajectory_generation.cpp.

EPS

constexpr double trajectory_processing::EPS = 0.000001

constexpr

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 77 of file iterative_time_parameterization.cpp.