iterative_time_parameterization.h
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00034 
00035 /* Author: Ken Anderson */
00036 
00037 #ifndef MOVEIT_TRAJECTORY_PROCESSING_ITERATIVE_PARABOLIC_SMOOTHER_
00038 #define MOVEIT_TRAJECTORY_PROCESSING_ITERATIVE_PARABOLIC_SMOOTHER_
00039 
00040 #include <trajectory_msgs/JointTrajectory.h>
00041 #include <moveit_msgs/JointLimits.h>
00042 #include <moveit_msgs/RobotState.h>
00043 #include <moveit/robot_trajectory/robot_trajectory.h>
00044 
00045 namespace trajectory_processing
00046 {
00047 
00050 class IterativeParabolicTimeParameterization
00051 {
00052 public:
00053   IterativeParabolicTimeParameterization(unsigned int max_iterations = 100,
00054                                          double max_time_change_per_it = .01);
00055   ~IterativeParabolicTimeParameterization();
00056 
00057   bool computeTimeStamps(robot_trajectory::RobotTrajectory& trajectory) const;
00058 
00059 private:
00060 
00061   unsigned int max_iterations_;         
00062   double max_time_change_per_it_;       
00063 
00064   void applyVelocityConstraints(robot_trajectory::RobotTrajectory& rob_trajectory,
00065                                 const std::vector<std::string>& active_joints,
00066                                 const std::vector<moveit_msgs::JointLimits>& limits,
00067                                 std::vector<double> &time_diff) const;
00068 
00069   void applyAccelerationConstraints(robot_trajectory::RobotTrajectory& rob_trajectory,
00070                                     const std::vector<std::string>& active_joints,
00071                                     const std::vector<moveit_msgs::JointLimits>& limits,
00072                                     std::vector<double> & time_diff) const;
00073 
00074   double findT1( const double d1, const double d2, double t1, const double t2, const double a_max) const;
00075   double findT2( const double d1, const double d2, const double t1, double t2, const double a_max) const;
00076   void printStats(const trajectory_msgs::JointTrajectory& trajectory,
00077                   const std::vector<moveit_msgs::JointLimits>& limits) const;
00078   void printPoint(const trajectory_msgs::JointTrajectoryPoint& point, unsigned int i) const;
00079 };
00080 
00081 }
00082 
00083 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Oct 6 2014 02:24:46