Public Member Functions | Private Member Functions | Private Attributes
constraint_aware_spline_smoother::IterativeParabolicSmoother< T > Class Template Reference

This is a parametric smoother that modifies the timestamps of a trajectory to respect velocity and acceleration constraints. More...

#include <iterative_smoother.h>

Inheritance diagram for constraint_aware_spline_smoother::IterativeParabolicSmoother< T >:
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List of all members.

Public Member Functions

virtual bool configure ()
 Configures the filter.
 IterativeParabolicSmoother ()
virtual bool smooth (const T &trajectory_in, T &trajectory_out) const
 Calculates a smooth trajectory by iteratively incrementing the time between points that exceed the velocity or acceleration bounds.
 ~IterativeParabolicSmoother ()

Private Member Functions

void applyAccelerationConstraints (const T &trajectory, std::vector< double > &time_diff) const
void applyVelocityConstraints (T &trajectory, std::vector< double > &time_diff) const
 maximum allowed time change per iteration in seconds
double findT1 (const double d1, const double d2, double t1, const double t2, const double a_max) const
double findT2 (const double d1, const double d2, const double t1, double t2, const double a_max) const
void printPoint (const trajectory_msgs::JointTrajectoryPoint &point, unsigned int i) const
void printStats (const T &trajectory) const

Private Attributes

int max_iterations_
double max_time_change_per_it_
 maximum number of iterations to find solution

Detailed Description

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

This is a parametric smoother that modifies the timestamps of a trajectory to respect velocity and acceleration constraints.

Definition at line 49 of file iterative_smoother.h.


Constructor & Destructor Documentation

Definition at line 49 of file iterative_smoother.cpp.

Definition at line 55 of file iterative_smoother.cpp.


Member Function Documentation

template<typename T >
void IterativeParabolicSmoother::applyAccelerationConstraints ( const T &  trajectory,
std::vector< double > &  time_diff 
) const [private]

Definition at line 298 of file iterative_smoother.cpp.

template<typename T >
void IterativeParabolicSmoother::applyVelocityConstraints ( T &  trajectory,
std::vector< double > &  time_diff 
) const [private]

maximum allowed time change per iteration in seconds

Definition at line 124 of file iterative_smoother.cpp.

template<typename T >
bool IterativeParabolicSmoother::configure ( void  ) [virtual]

Configures the filter.

Reimplemented from spline_smoother::SplineSmoother< T >.

Definition at line 59 of file iterative_smoother.cpp.

template<typename T >
double IterativeParabolicSmoother::findT1 ( const double  d1,
const double  d2,
double  t1,
const double  t2,
const double  a_max 
) const [private]

Definition at line 173 of file iterative_smoother.cpp.

template<typename T >
double IterativeParabolicSmoother::findT2 ( const double  d1,
const double  d2,
const double  t1,
double  t2,
const double  a_max 
) const [private]

Definition at line 192 of file iterative_smoother.cpp.

template<typename T >
void IterativeParabolicSmoother::printPoint ( const trajectory_msgs::JointTrajectoryPoint &  point,
unsigned int  i 
) const [private]

Definition at line 79 of file iterative_smoother.cpp.

template<typename T >
void IterativeParabolicSmoother::printStats ( const T &  trajectory) const [private]

Definition at line 100 of file iterative_smoother.cpp.

template<typename T >
bool IterativeParabolicSmoother::smooth ( const T &  trajectory_in,
T &  trajectory_out 
) const [virtual]

Calculates a smooth trajectory by iteratively incrementing the time between points that exceed the velocity or acceleration bounds.

Implements spline_smoother::SplineSmoother< T >.

Definition at line 403 of file iterative_smoother.cpp.


Member Data Documentation

Definition at line 63 of file iterative_smoother.h.

maximum number of iterations to find solution

Definition at line 64 of file iterative_smoother.h.


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


constraint_aware_spline_smoother
Author(s): Sachin Chitta
autogenerated on Thu Dec 12 2013 11:10:27