Scales the time intervals stretching them if necessary so that the trajectory conforms to velocity limits. More...

#include <cubic_spline_shortcutter.h>

Inheritance diagram for constraint_aware_spline_smoother::CubicSplineShortCutter< T >:

Public Member Functions
virtual bool	configure ()
	Configure the filter with the discretization for returned trajectories.
	CubicSplineShortCutter ()
	Construct the smoother.
virtual bool	smooth (const T &trajectory_in, T &trajectory_out) const
virtual	~CubicSplineShortCutter ()
Private Member Functions
bool	addToTrajectory (trajectory_msgs::JointTrajectory &trajectory_out, const trajectory_msgs::JointTrajectoryPoint &trajectory_point, const ros::Duration &delta_time) const
void	discretizeAndAppendSegment (const spline_smoother::SplineTrajectorySegment &spline_segment, const double &discretization, trajectory_msgs::JointTrajectory &joint_trajectory, const ros::Duration &segment_start_time, const bool &include_segment_end) const
void	discretizeTrajectory (const spline_smoother::SplineTrajectory &spline, const double &discretization, trajectory_msgs::JointTrajectory &joint_trajectory) const
bool	findTrajectoryPointsInInterval (const trajectory_msgs::JointTrajectory &trajectory, const double &segment_start_time, const double &segment_end_time, int &index_1, int &index_2) const
int	getRandomInt (int min, int max) const
double	getRandomTimeStamp (double min, double max) const
bool	getWaypoints (const spline_smoother::SplineTrajectory &spline, trajectory_msgs::JointTrajectory &joint_trajectory) const
double	maxLInfDistance (const trajectory_msgs::JointTrajectoryPoint &start, const trajectory_msgs::JointTrajectoryPoint &end) const
void	printTrajectory (const trajectory_msgs::JointTrajectory &joint_trajectory) const
void	refineTrajectory (T &trajectory) const
bool	setupCollisionEnvironment ()
bool	trimTrajectory (trajectory_msgs::JointTrajectory &trajectory_out, const double &segment_start_time, const double &segment_end_time) const
Private Attributes
bool	active_
planning_environment::CollisionModelsInterface *	collision_models_interface_
double	discretization_

Detailed Description

template<typename T>
class constraint_aware_spline_smoother::CubicSplineShortCutter< T >

Scales the time intervals stretching them if necessary so that the trajectory conforms to velocity limits.

Definition at line 57 of file cubic_spline_shortcutter.h.

Constructor & Destructor Documentation

template<typename T >

constraint_aware_spline_smoother::CubicSplineShortCutter< T >::CubicSplineShortCutter ( )

Construct the smoother.

Definition at line 126 of file cubic_spline_shortcutter.h.

template<typename T >

constraint_aware_spline_smoother::CubicSplineShortCutter< T >::~CubicSplineShortCutter ( ) [virtual]

Definition at line 135 of file cubic_spline_shortcutter.h.

Member Function Documentation

template<typename T >

bool constraint_aware_spline_smoother::CubicSplineShortCutter< T >::addToTrajectory	(	trajectory_msgs::JointTrajectory &	trajectory_out,
		const trajectory_msgs::JointTrajectoryPoint &	trajectory_point,
		const ros::Duration &	delta_time
	)		const `[private]`

Definition at line 650 of file cubic_spline_shortcutter.h.

template<typename T >

bool constraint_aware_spline_smoother::CubicSplineShortCutter< T >::configure ( void ) [virtual]

Configure the filter with the discretization for returned trajectories.

Todo:: check length

Reimplemented from spline_smoother::SplineSmoother< T >.

Definition at line 111 of file cubic_spline_shortcutter.h.

template<typename T >

void constraint_aware_spline_smoother::CubicSplineShortCutter< T >::discretizeAndAppendSegment	(	const spline_smoother::SplineTrajectorySegment &	spline_segment,
		const double &	discretization,
		trajectory_msgs::JointTrajectory &	joint_trajectory,
		const ros::Duration &	segment_start_time,
		const bool &	include_segment_end
	)		const `[private]`

Definition at line 506 of file cubic_spline_shortcutter.h.

template<typename T >

void constraint_aware_spline_smoother::CubicSplineShortCutter< T >::discretizeTrajectory	(	const spline_smoother::SplineTrajectory &	spline,
		const double &	discretization,
		trajectory_msgs::JointTrajectory &	joint_trajectory
	)		const `[private]`

Definition at line 486 of file cubic_spline_shortcutter.h.

template<typename T >

bool constraint_aware_spline_smoother::CubicSplineShortCutter< T >::findTrajectoryPointsInInterval	(	const trajectory_msgs::JointTrajectory &	trajectory,
		const double &	segment_start_time,
		const double &	segment_end_time,
		int &	index_1,
		int &	index_2
	)		const `[private]`

Definition at line 594 of file cubic_spline_shortcutter.h.

template<typename T >

int constraint_aware_spline_smoother::CubicSplineShortCutter< T >::getRandomInt	(	int	min,
		int	max
	)		const `[private]`

Definition at line 140 of file cubic_spline_shortcutter.h.

template<typename T >

double constraint_aware_spline_smoother::CubicSplineShortCutter< T >::getRandomTimeStamp	(	double	min,
		double	max
	)		const `[private]`

Definition at line 148 of file cubic_spline_shortcutter.h.

template<typename T >

bool constraint_aware_spline_smoother::CubicSplineShortCutter< T >::getWaypoints	(	const spline_smoother::SplineTrajectory &	spline,
		trajectory_msgs::JointTrajectory &	joint_trajectory
	)		const `[private]`

Definition at line 632 of file cubic_spline_shortcutter.h.

template<typename T >

double constraint_aware_spline_smoother::CubicSplineShortCutter< T >::maxLInfDistance	(	const trajectory_msgs::JointTrajectoryPoint &	start,
		const trajectory_msgs::JointTrajectoryPoint &	end
	)		const `[private]`

Definition at line 550 of file cubic_spline_shortcutter.h.

template<typename T >

void constraint_aware_spline_smoother::CubicSplineShortCutter< T >::printTrajectory ( const trajectory_msgs::JointTrajectory & joint_trajectory ) const [private]

Definition at line 435 of file cubic_spline_shortcutter.h.

template<typename T >

void constraint_aware_spline_smoother::CubicSplineShortCutter< T >::refineTrajectory ( T & trajectory ) const [private]

Definition at line 406 of file cubic_spline_shortcutter.h.

template<typename T >

bool constraint_aware_spline_smoother::CubicSplineShortCutter< T >::setupCollisionEnvironment ( ) [private]

Definition at line 692 of file cubic_spline_shortcutter.h.

template<typename T >

bool constraint_aware_spline_smoother::CubicSplineShortCutter< T >::smooth	(	const T &	trajectory_in,
		T &	trajectory_out
	)		const `[virtual]`

Implements spline_smoother::SplineSmoother< T >.

Definition at line 156 of file cubic_spline_shortcutter.h.

template<typename T >

bool constraint_aware_spline_smoother::CubicSplineShortCutter< T >::trimTrajectory	(	trajectory_msgs::JointTrajectory &	trajectory_out,
		const double &	segment_start_time,
		const double &	segment_end_time
	)		const `[private]`