iterative_time_parameterization.h
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34 
35 /* Author: Ken Anderson */
36 
37 #ifndef MOVEIT_TRAJECTORY_PROCESSING_ITERATIVE_PARABOLIC_SMOOTHER_
38 #define MOVEIT_TRAJECTORY_PROCESSING_ITERATIVE_PARABOLIC_SMOOTHER_
39 
40 #include <trajectory_msgs/JointTrajectory.h>
41 #include <moveit_msgs/JointLimits.h>
42 #include <moveit_msgs/RobotState.h>
44 
45 namespace trajectory_processing
46 {
50 {
51 public:
52  IterativeParabolicTimeParameterization(unsigned int max_iterations = 100, double max_time_change_per_it = .01);
54 
55  bool computeTimeStamps(robot_trajectory::RobotTrajectory& trajectory, const double max_velocity_scaling_factor = 1.0,
56  const double max_acceleration_scaling_factor = 1.0) const;
57 
58 private:
59  unsigned int max_iterations_;
61 
62  void applyVelocityConstraints(robot_trajectory::RobotTrajectory& rob_trajectory, std::vector<double>& time_diff,
63  const double max_velocity_scaling_factor) const;
64 
65  void applyAccelerationConstraints(robot_trajectory::RobotTrajectory& rob_trajectory, std::vector<double>& time_diff,
66  const double max_acceleration_scaling_factor) const;
67 
68  double findT1(const double d1, const double d2, double t1, const double t2, const double a_max) const;
69  double findT2(const double d1, const double d2, const double t1, double t2, const double a_max) const;
70 };
71 }
72 
73 #endif
double findT2(const double d1, const double d2, const double t1, double t2, const double a_max) 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
double max_time_change_per_it_
maximum number of iterations to find solution
double findT1(const double d1, const double d2, double t1, const double t2, const double a_max) const
robot_trajectory::RobotTrajectory trajectory(rmodel,"right_arm")
Maintain a sequence of waypoints and the time durations between these waypoints.
This class modifies the timestamps of a trajectory to respect velocity and acceleration constraints...
void applyAccelerationConstraints(robot_trajectory::RobotTrajectory &rob_trajectory, std::vector< double > &time_diff, const double max_acceleration_scaling_factor) const
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)


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Thu Jul 12 2018 02:53:17