cubic_trajectory.h
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00034 
00037 #ifndef CUBIC_TRAJECTORY_H_
00038 #define CUBIC_TRAJECTORY_H_
00039 
00040 #include <spline_smoother/spline_smoother_utils.h>
00041 
00042 namespace spline_smoother
00043 {
00047   class CubicTrajectory 
00048   {
00049     public:
00050 
00051     CubicTrajectory();
00052 
00053     bool parameterize(const trajectory_msgs::JointTrajectory& trajectory_in, 
00054                       const std::vector<arm_navigation_msgs::JointLimits> &limits,
00055                       spline_smoother::SplineTrajectory& spline);
00056 
00057     private:
00058 
00059     double minSegmentTime(const double &q0, 
00060                           const double &q1, 
00061                           const double &v0, 
00062                           const double &v1, 
00063                           const arm_navigation_msgs::JointLimits &limit);
00064 
00065     static const double EPS_TRAJECTORY = 1.0e-8;
00066 
00067     double calculateMinimumTime(const trajectory_msgs::JointTrajectoryPoint &start, 
00068                                 const trajectory_msgs::JointTrajectoryPoint &end, 
00069                                 const std::vector<arm_navigation_msgs::JointLimits> &limits);
00070 
00071     bool quadSolve(const double &a, const double &b, const double &c, double &solution);
00072     bool quadSolve(const double &a, 
00073                    const double &b, 
00074                    const double &c, 
00075                    std::vector<double> &solution);
00076 
00077     bool validSolution(const double &q0, 
00078                        const double &q1,
00079                        const double &v0,
00080                        const double &v1,
00081                        const double &dT,
00082                        const double &vmax,
00083                        const double &amax);
00084 
00085     bool apply_limits_;
00086   };
00087 }
00088 
00089 #endif /* CUBIC_TRAJECTORY_H_ */


spline_smoother
Author(s): Mrinal Kalakrishnan / mail@mrinal.net
autogenerated on Mon Dec 2 2013 12:35:44