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 {
00049 class IterativeParabolicTimeParameterization
00050 {
00051 public:
00052   IterativeParabolicTimeParameterization(unsigned int max_iterations = 100, double max_time_change_per_it = .01);
00053   ~IterativeParabolicTimeParameterization();
00054 
00055   bool computeTimeStamps(robot_trajectory::RobotTrajectory& trajectory, const double max_velocity_scaling_factor = 1.0,
00056                          const double max_acceleration_scaling_factor = 1.0) const;
00057 
00058 private:
00059   unsigned int max_iterations_;    
00060   double max_time_change_per_it_;  
00061 
00062   void applyVelocityConstraints(robot_trajectory::RobotTrajectory& rob_trajectory, std::vector<double>& time_diff,
00063                                 const double max_velocity_scaling_factor) const;
00064 
00065   void applyAccelerationConstraints(robot_trajectory::RobotTrajectory& rob_trajectory, std::vector<double>& time_diff,
00066                                     const double max_acceleration_scaling_factor) const;
00067 
00068   double findT1(const double d1, const double d2, double t1, const double t2, const double a_max) const;
00069   double findT2(const double d1, const double d2, const double t1, double t2, const double a_max) const;
00070 };
00071 }
00072 
00073 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Apr 23 2018 10:24:45