A bounded-velocity, bounded-acceleration trajectory consisting of parabolic ramps. More...

#include <DynamicPath.h>

Public Member Functions
void	Append (const Vector &x)
void	Append (const Vector &x, const Vector &dx)
void	Clear ()
void	Concat (const DynamicPath &suffix)
void	Derivative (Real t, Vector &dx) const
	DynamicPath ()
bool	Empty () const
void	Evaluate (Real t, Vector &x) const
void	GetMilestones (std::vector< Vector > &x, std::vector< Vector > &dx) const
int	GetSegment (Real t, Real &u) const
Real	GetTotalTime () const
void	Init (const Vector &velMax, const Vector &accMax)
bool	IsValid () const
int	OnlineShortcut (Real leadTime, Real padTime, RampFeasibilityChecker &check)
int	OnlineShortcut (Real leadTime, Real padTime, RampFeasibilityChecker &check, RandomNumberGeneratorBase *rng)
void	SetJointLimits (const Vector &qMin, const Vector &qMax)
void	SetMilestones (const std::vector< Vector > &x)
void	SetMilestones (const std::vector< Vector > &x, const std::vector< Vector > &dx)
int	ShortCircuit (RampFeasibilityChecker &check)
int	Shortcut (int numIters, RampFeasibilityChecker &check)
int	Shortcut (int numIters, RampFeasibilityChecker &check, RandomNumberGeneratorBase *rng)
void	Split (Real t, DynamicPath &before, DynamicPath &after) const
bool	TryShortcut (Real t1, Real t2, RampFeasibilityChecker &check)
Public Attributes
Vector	accMax
std::vector< ParabolicRampND >	ramps
	The path is stored as a series of ramps.
Vector	velMax
Vector	xMax
Vector	xMin
	The joint limits (optional), velocity bounds, and acceleration bounds.

Detailed Description

A bounded-velocity, bounded-acceleration trajectory consisting of parabolic ramps.

Optionally, joint limits xMin and xMax may be specified as well. If so, then the XXXBounded functions are used for smoothing.

The Shortcut and OnlineShortcut methods can optionally take a custom random number generator (may be useful for multithreading).

Definition at line 113 of file DynamicPath.h.

Constructor & Destructor Documentation

ParabolicRamp::DynamicPath::DynamicPath ( )

Definition at line 97 of file DynamicPath.cpp.

Member Function Documentation

void ParabolicRamp::DynamicPath::Append ( const Vector & x )

Definition at line 254 of file DynamicPath.cpp.

void ParabolicRamp::DynamicPath::Append	(	const Vector &	x,
		const Vector &	dx
	)

Definition at line 287 of file DynamicPath.cpp.

void ParabolicRamp::DynamicPath::Clear ( ) [inline]

Definition at line 119 of file DynamicPath.h.

void ParabolicRamp::DynamicPath::Concat ( const DynamicPath & suffix )

Definition at line 313 of file DynamicPath.cpp.

void ParabolicRamp::DynamicPath::Derivative	(	Real	t,
		Vector &	dx
	)		const

Definition at line 155 of file DynamicPath.cpp.

bool ParabolicRamp::DynamicPath::Empty ( ) const [inline]

Definition at line 120 of file DynamicPath.h.

void ParabolicRamp::DynamicPath::Evaluate	(	Real	t,
		Vector &	x
	)		const

Definition at line 137 of file DynamicPath.cpp.

void ParabolicRamp::DynamicPath::GetMilestones	(	std::vector< Vector > &	x,
		std::vector< Vector > &	dx
	)		const

Definition at line 237 of file DynamicPath.cpp.

int ParabolicRamp::DynamicPath::GetSegment	(	Real	t,
		Real &	u
	)		const

Definition at line 123 of file DynamicPath.cpp.

Real ParabolicRamp::DynamicPath::GetTotalTime ( ) const

Definition at line 116 of file DynamicPath.cpp.

void ParabolicRamp::DynamicPath::Init	(	const Vector &	velMax,
		const Vector &	accMax
	)

Definition at line 100 of file DynamicPath.cpp.

bool ParabolicRamp::DynamicPath::IsValid ( ) const

Definition at line 831 of file DynamicPath.cpp.

int ParabolicRamp::DynamicPath::OnlineShortcut	(	Real	leadTime,
		Real	padTime,
		RampFeasibilityChecker &	check
	)

leadTime: the amount of time before this path should be executable padTime: an approximate bound on the time it takes to check a shortcut

Definition at line 745 of file DynamicPath.cpp.

int ParabolicRamp::DynamicPath::OnlineShortcut	(	Real	leadTime,
		Real	padTime,
		RampFeasibilityChecker &	check,
		RandomNumberGeneratorBase *	rng
	)

Definition at line 751 of file DynamicPath.cpp.

void ParabolicRamp::DynamicPath::SetJointLimits	(	const Vector &	qMin,
		const Vector &	qMax
	)

Definition at line 108 of file DynamicPath.cpp.

void ParabolicRamp::DynamicPath::SetMilestones ( const std::vector< Vector > & x )

void ParabolicRamp::DynamicPath::SetMilestones	(	const std::vector< Vector > &	x,
		const std::vector< Vector > &	dx
	)

int ParabolicRamp::DynamicPath::ShortCircuit ( RampFeasibilityChecker & check )

Definition at line 721 of file DynamicPath.cpp.

int ParabolicRamp::DynamicPath::Shortcut	(	int	numIters,
		RampFeasibilityChecker &	check
	)

Definition at line 644 of file DynamicPath.cpp.

int ParabolicRamp::DynamicPath::Shortcut	(	int	numIters,
		RampFeasibilityChecker &	check,
		RandomNumberGeneratorBase *	rng
	)

Definition at line 650 of file DynamicPath.cpp.

void ParabolicRamp::DynamicPath::Split	(	Real	t,
		DynamicPath &	before,
		DynamicPath &	after
	)		const

Definition at line 351 of file DynamicPath.cpp.

bool ParabolicRamp::DynamicPath::TryShortcut	(	Real	t1,
		Real	t2,
		RampFeasibilityChecker &	check
	)

Definition at line 577 of file DynamicPath.cpp.

Member Data Documentation

Vector ParabolicRamp::DynamicPath::accMax

Definition at line 144 of file DynamicPath.h.

std::vector<ParabolicRampND> ParabolicRamp::DynamicPath::ramps

The path is stored as a series of ramps.

Definition at line 146 of file DynamicPath.h.

Vector ParabolicRamp::DynamicPath::velMax

Definition at line 144 of file DynamicPath.h.

Vector ParabolicRamp::DynamicPath::xMax

Definition at line 144 of file DynamicPath.h.

Vector ParabolicRamp::DynamicPath::xMin

The joint limits (optional), velocity bounds, and acceleration bounds.

Definition at line 144 of file DynamicPath.h.

The documentation for this class was generated from the following files:

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation