#include <cubic_parameterized_trajectory.h>
Public Member Functions | |
CubicParameterizedTrajectory () | |
bool | parameterize (const trajectory_msgs::JointTrajectory &trajectory_in, const std::vector< arm_navigation_msgs::JointLimits > &limits, spline_smoother::SplineTrajectory &spline) |
Private Member Functions | |
double | getAccelerationLimit (const trajectory_msgs::JointTrajectoryPoint &start, const trajectory_msgs::JointTrajectoryPoint &end, const std::vector< arm_navigation_msgs::JointLimits > &limits) |
double | getDistance (const trajectory_msgs::JointTrajectoryPoint &start, const trajectory_msgs::JointTrajectoryPoint &end, const std::vector< arm_navigation_msgs::JointLimits > &limits) |
void | getLimit (const trajectory_msgs::JointTrajectoryPoint &start, const trajectory_msgs::JointTrajectoryPoint &end, const std::vector< arm_navigation_msgs::JointLimits > &limits, arm_navigation_msgs::JointLimits &limit_out) |
double | getVelocityLimit (const trajectory_msgs::JointTrajectoryPoint &start, const trajectory_msgs::JointTrajectoryPoint &end, const std::vector< arm_navigation_msgs::JointLimits > &limits) |
bool | hasAccelerationLimits (const std::vector< arm_navigation_msgs::JointLimits > &limits) |
double | jointDiff (const double &start, const double &end, const arm_navigation_msgs::JointLimits &limit) |
void | solveCubicSpline (const double &q0, const double &q1, const double &v0, const double &v1, const double &dt, std::vector< double > &coefficients) |
Private Attributes | |
bool | apply_limits_ |
Static Private Attributes | |
static const double | EPS_TRAJECTORY = 1.0e-8 |
Definition at line 48 of file cubic_parameterized_trajectory.h.
Definition at line 41 of file cubic_parameterized_trajectory.cpp.
double spline_smoother::CubicParameterizedTrajectory::getAccelerationLimit | ( | const trajectory_msgs::JointTrajectoryPoint & | start, |
const trajectory_msgs::JointTrajectoryPoint & | end, | ||
const std::vector< arm_navigation_msgs::JointLimits > & | limits | ||
) | [private] |
Definition at line 71 of file cubic_parameterized_trajectory.cpp.
double spline_smoother::CubicParameterizedTrajectory::getDistance | ( | const trajectory_msgs::JointTrajectoryPoint & | start, |
const trajectory_msgs::JointTrajectoryPoint & | end, | ||
const std::vector< arm_navigation_msgs::JointLimits > & | limits | ||
) | [private] |
Definition at line 46 of file cubic_parameterized_trajectory.cpp.
void spline_smoother::CubicParameterizedTrajectory::getLimit | ( | const trajectory_msgs::JointTrajectoryPoint & | start, |
const trajectory_msgs::JointTrajectoryPoint & | end, | ||
const std::vector< arm_navigation_msgs::JointLimits > & | limits, | ||
arm_navigation_msgs::JointLimits & | limit_out | ||
) | [private] |
Definition at line 93 of file cubic_parameterized_trajectory.cpp.
double spline_smoother::CubicParameterizedTrajectory::getVelocityLimit | ( | const trajectory_msgs::JointTrajectoryPoint & | start, |
const trajectory_msgs::JointTrajectoryPoint & | end, | ||
const std::vector< arm_navigation_msgs::JointLimits > & | limits | ||
) | [private] |
Definition at line 57 of file cubic_parameterized_trajectory.cpp.
bool spline_smoother::CubicParameterizedTrajectory::hasAccelerationLimits | ( | const std::vector< arm_navigation_msgs::JointLimits > & | limits | ) | [private] |
Definition at line 85 of file cubic_parameterized_trajectory.cpp.
double spline_smoother::CubicParameterizedTrajectory::jointDiff | ( | const double & | start, |
const double & | end, | ||
const arm_navigation_msgs::JointLimits & | limit | ||
) | [private] |
Definition at line 113 of file cubic_parameterized_trajectory.cpp.
bool spline_smoother::CubicParameterizedTrajectory::parameterize | ( | const trajectory_msgs::JointTrajectory & | trajectory_in, |
const std::vector< arm_navigation_msgs::JointLimits > & | limits, | ||
spline_smoother::SplineTrajectory & | spline | ||
) |
Definition at line 138 of file cubic_parameterized_trajectory.cpp.
void spline_smoother::CubicParameterizedTrajectory::solveCubicSpline | ( | const double & | q0, |
const double & | q1, | ||
const double & | v0, | ||
const double & | v1, | ||
const double & | dt, | ||
std::vector< double > & | coefficients | ||
) | [private] |
Definition at line 123 of file cubic_parameterized_trajectory.cpp.
Definition at line 92 of file cubic_parameterized_trajectory.h.
const double spline_smoother::CubicParameterizedTrajectory::EPS_TRAJECTORY = 1.0e-8 [static, private] |
Definition at line 90 of file cubic_parameterized_trajectory.h.