00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2009, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00037 #ifndef LSPB_TRAJECTORY_H_ 00038 #define LSPB_TRAJECTORY_H_ 00039 00040 #include <spline_smoother/spline_smoother_utils.h> 00041 #include <spline_smoother/LSPBTrajectoryMsg.h> 00042 00043 namespace spline_smoother 00044 { 00048 class LSPBTrajectory 00049 { 00050 public: 00051 00052 LSPBTrajectory(); 00053 00054 bool parameterize(const trajectory_msgs::JointTrajectory& trajectory_in, 00055 const std::vector<arm_navigation_msgs::JointLimits>& limits, 00056 spline_smoother::LSPBTrajectoryMsg& spline); 00057 00058 private: 00059 00060 double minSegmentTime(const double &q0, 00061 const double &q1, 00062 const double &v0, 00063 const double &v1, 00064 const arm_navigation_msgs::JointLimits &limit); 00065 00066 double blendTime(const double &aa, 00067 const double &bb, 00068 const double &cc); 00069 00070 double calculateMinimumTime(const trajectory_msgs::JointTrajectoryPoint &start, 00071 const trajectory_msgs::JointTrajectoryPoint &end, 00072 const std::vector<arm_navigation_msgs::JointLimits> &limits); 00073 00074 bool apply_limits_; 00075 }; 00076 } 00077 00078 #endif /* LSPB_TRAJEECTORY_H_ */