spline_parameterization.h
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00034 
00035 /* Author: Ruben Burger (r.b.burger@tudelft.nl)
00036  *
00037  * Based on iterative_time_parameterization.h, by Ken Anderson
00038  */
00039 
00040 #ifndef MOVEIT_TRAJECTORY_PROCESSING_SPLINE_PARAMETERIZATION_
00041 #define MOVEIT_TRAJECTORY_PROCESSING_SPLINE_PARAMETERIZATION_
00042 
00043 #include <trajectory_msgs/JointTrajectory.h>
00044 #include <moveit_msgs/JointLimits.h>
00045 #include <moveit_msgs/RobotState.h>
00046 #include <moveit/robot_trajectory/robot_trajectory.h>
00047 
00048 namespace trajectory_processing
00049 {
00052 class SplineParameterization
00053 {
00054 public:
00055   SplineParameterization(unsigned int max_iterations = 100, double max_time_change_per_it = .01);
00056   ~SplineParameterization();
00057 
00058   bool computeTimeStamps(robot_trajectory::RobotTrajectory& trajectory, const double max_velocity_scaling_factor = 1.0,
00059                          const double max_acceleration_scaling_factor = 1.0) const;
00060 
00061 private:
00062   unsigned int max_iterations_;    
00063   double max_time_change_per_it_;  
00064 
00065   void applyVelocityConstraints(robot_trajectory::RobotTrajectory& rob_trajectory, std::vector<double>& time_diff,
00066                                 const double max_velocity_scaling_factor) const;
00067 
00068   void applyAccelerationConstraints(robot_trajectory::RobotTrajectory& rob_trajectory, std::vector<double>& time_diff,
00069                                     const double max_acceleration_scaling_factor) const;
00070 
00071   double findT1(const double d1, const double d2, double t1, const double t2, const double a_max) const;
00072   double findT2(const double d1, const double d2, const double t1, double t2, const double a_max) const;
00073 };
00074 }
00075 
00076 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Tue Dec 26 2017 03:33:17