Public Member Functions | Private Member Functions | Private Attributes | List of all members
trajectory_processing::IterativeParabolicTimeParameterization Class Reference

This class modifies the timestamps of a trajectory to respect velocity and acceleration constraints. More...

#include <iterative_time_parameterization.h>

Public Member Functions

bool computeTimeStamps (robot_trajectory::RobotTrajectory &trajectory, const double max_velocity_scaling_factor=1.0, const double max_acceleration_scaling_factor=1.0) const
 
 IterativeParabolicTimeParameterization (unsigned int max_iterations=100, double max_time_change_per_it=.01)
 
 ~IterativeParabolicTimeParameterization ()
 

Private Member Functions

void applyAccelerationConstraints (robot_trajectory::RobotTrajectory &rob_trajectory, std::vector< double > &time_diff, const double max_acceleration_scaling_factor) const
 
void applyVelocityConstraints (robot_trajectory::RobotTrajectory &rob_trajectory, std::vector< double > &time_diff, const double max_velocity_scaling_factor) const
 maximum allowed time change per iteration in seconds More...
 
double findT1 (const double d1, const double d2, double t1, const double t2, const double a_max) const
 
double findT2 (const double d1, const double d2, const double t1, double t2, const double a_max) const
 

Private Attributes

unsigned int max_iterations_
 
double max_time_change_per_it_
 maximum number of iterations to find solution More...
 

Detailed Description

This class modifies the timestamps of a trajectory to respect velocity and acceleration constraints.

Definition at line 49 of file iterative_time_parameterization.h.

Constructor & Destructor Documentation

trajectory_processing::IterativeParabolicTimeParameterization::IterativeParabolicTimeParameterization ( unsigned int  max_iterations = 100,
double  max_time_change_per_it = .01 
)

Definition at line 47 of file iterative_time_parameterization.cpp.

trajectory_processing::IterativeParabolicTimeParameterization::~IterativeParabolicTimeParameterization ( )
default

Member Function Documentation

void trajectory_processing::IterativeParabolicTimeParameterization::applyAccelerationConstraints ( robot_trajectory::RobotTrajectory rob_trajectory,
std::vector< double > &  time_diff,
const double  max_acceleration_scaling_factor 
) const
private

Definition at line 300 of file iterative_time_parameterization.cpp.

void trajectory_processing::IterativeParabolicTimeParameterization::applyVelocityConstraints ( robot_trajectory::RobotTrajectory rob_trajectory,
std::vector< double > &  time_diff,
const double  max_velocity_scaling_factor 
) const
private

maximum allowed time change per iteration in seconds

Definition at line 101 of file iterative_time_parameterization.cpp.

bool trajectory_processing::IterativeParabolicTimeParameterization::computeTimeStamps ( robot_trajectory::RobotTrajectory trajectory,
const double  max_velocity_scaling_factor = 1.0,
const double  max_acceleration_scaling_factor = 1.0 
) const

Definition at line 460 of file iterative_time_parameterization.cpp.

double trajectory_processing::IterativeParabolicTimeParameterization::findT1 ( const double  d1,
const double  d2,
double  t1,
const double  t2,
const double  a_max 
) const
private

Definition at line 148 of file iterative_time_parameterization.cpp.

double trajectory_processing::IterativeParabolicTimeParameterization::findT2 ( const double  d1,
const double  d2,
const double  t1,
double  t2,
const double  a_max 
) const
private

Definition at line 167 of file iterative_time_parameterization.cpp.

Member Data Documentation

unsigned int trajectory_processing::IterativeParabolicTimeParameterization::max_iterations_
private

Definition at line 59 of file iterative_time_parameterization.h.

double trajectory_processing::IterativeParabolicTimeParameterization::max_time_change_per_it_
private

maximum number of iterations to find solution

Definition at line 60 of file iterative_time_parameterization.h.


The documentation for this class was generated from the following files:


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sat Sep 15 2018 02:51:07