polynomial.h File Reference

TODO. More...

#include <stomp_core/utils.h>
#include <moveit/robot_model/robot_model.h>
#include <Eigen/Core>

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Classes
struct	stomp_moveit::utils::polynomial::PolyFitRequest
	The Polynomial Fit request data. More...
struct	stomp_moveit::utils::polynomial::PolyFitResults
	The Polynomial Fit results data. More...
Namespaces
namespace	smoothing
namespace	stomp_moveit
namespace	stomp_moveit::utils
namespace	stomp_moveit::utils::polynomial
namespace	utils
Functions
bool	stomp_moveit::utils::polynomial::applyPolynomialSmoothing (moveit::core::RobotModelConstPtr robot_model, const std::string &group_name, Eigen::MatrixXd &parameters, int poly_order=5, double joint_limit_margin=1e-5)
	Applies a polynomial smoothing method to a trajectory. It checks for joint limits and makes corrections when these are exceeded as a result of the smoothing process.
void	stomp_moveit::utils::polynomial::fillVandermondeMatrix (const Eigen::ArrayXd &domain_vals, const int &order, Eigen::MatrixXd &v)
	Generates a Vandermonde matrix from the domain values as described here https://en.wikipedia.org/wiki/Vandermonde_matrix. It uses the poly_order parameter in order to set the size of the matrix.
void	stomp_moveit::utils::polynomial::generateMinimumDomainValues (const std::vector< const moveit::core::JointModel * > joint_models, const Eigen::MatrixXd &parameters, Eigen::VectorXd &domain_values)
	Get the polynomial smoother domain values.
PolyFitResults	stomp_moveit::utils::polynomial::polyFit (const PolyFitRequest &request)
	Fit a polynomial with fixed indices.

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Detailed Description

TODO.

Author:

Jorge Nicho

Date:

Jan 6, 2017

Version:

TODO

Bug:

No known bugs

Copyright:

Copyright (c) 2017, Southwest Research Institute

License

Software License Agreement (Apache License)

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Definition in file polynomial.h.