Public Member Functions
	CubicTrajectory ()
bool	parameterize (const trajectory_msgs::JointTrajectory &trajectory_in, const std::vector< arm_navigation_msgs::JointLimits > &limits, spline_smoother::SplineTrajectory &spline)
Private Member Functions
double	calculateMinimumTime (const trajectory_msgs::JointTrajectoryPoint &start, const trajectory_msgs::JointTrajectoryPoint &end, const std::vector< arm_navigation_msgs::JointLimits > &limits)
double	minSegmentTime (const double &q0, const double &q1, const double &v0, const double &v1, const arm_navigation_msgs::JointLimits &limit)
bool	quadSolve (const double &a, const double &b, const double &c, double &solution)
bool	quadSolve (const double &a, const double &b, const double &c, std::vector< double > &solution)
bool	validSolution (const double &q0, const double &q1, const double &v0, const double &v1, const double &dT, const double &vmax, const double &amax)
Private Attributes
bool	apply_limits_
Static Private Attributes
static const double	EPS_TRAJECTORY = 1.0e-8

Detailed Description

Definition at line 47 of file cubic_trajectory.h.

Constructor & Destructor Documentation

spline_smoother::CubicTrajectory::CubicTrajectory ( )

Definition at line 41 of file cubic_trajectory.cpp.

double spline_smoother::CubicTrajectory::calculateMinimumTime	(	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_trajectory.cpp.

double spline_smoother::CubicTrajectory::minSegmentTime	(	const double &	q0,
		const double &	q1,
		const double &	v0,
		const double &	v1,
		const arm_navigation_msgs::JointLimits &	limit
	)		`[private]`

Definition at line 63 of file cubic_trajectory.cpp.

bool spline_smoother::CubicTrajectory::parameterize	(	const trajectory_msgs::JointTrajectory &	trajectory_in,
		const std::vector< arm_navigation_msgs::JointLimits > &	limits,
		spline_smoother::SplineTrajectory &	spline
	)

Definition at line 205 of file cubic_trajectory.cpp.

bool spline_smoother::CubicTrajectory::quadSolve	(	const double &	a,
		const double &	b,
		const double &	c,
		double &	solution
	)		`[private]`

Definition at line 249 of file cubic_trajectory.cpp.

bool spline_smoother::CubicTrajectory::quadSolve	(	const double &	a,
		const double &	b,
		const double &	c,
		std::vector< double > &	solution
	)		`[private]`

Definition at line 283 of file cubic_trajectory.cpp.

bool spline_smoother::CubicTrajectory::validSolution	(	const double &	q0,
		const double &	q1,
		const double &	v0,
		const double &	v1,
		const double &	dT,
		const double &	vmax,
		const double &	amax
	)		`[private]`

Definition at line 159 of file cubic_trajectory.cpp.

Definition at line 85 of file cubic_trajectory.h.

Definition at line 65 of file cubic_trajectory.h.

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