Classes | Functions | Variables
trajectory_processing Namespace Reference

Classes

class  IterativeParabolicTimeParameterization
 This class modifies the timestamps of a trajectory to respect velocity and acceleration constraints. More...
 
class  IterativeSplineParameterization
 This class sets the timestamps of a trajectory to enforce velocity, acceleration constraints. Initial/final velocities and accelerations may be specified in the trajectory. Velocity and acceleration limits are specified in the model. More...
 
struct  SingleJointTrajectory
 

Functions

static void adjust_two_positions (const int n, const double dt[], double x[], double x1[], double x2[], const double x2_i, const double x2_f)
 
static void fit_cubic_spline (const int n, const double dt[], const double x[], double x1[], double x2[])
 
static int fit_spline_and_adjust_times (const int n, double dt[], const double x[], double x1[], double x2[], const double max_velocity, const double min_velocity, const double max_acceleration, const double min_acceleration, const double tfactor)
 
static double global_adjustment_factor (const int n, double dt[], const double x[], double x1[], double x2[], const double max_velocity, const double min_velocity, const double max_acceleration, const double min_acceleration)
 
void globalAdjustment (std::vector< SingleJointTrajectory > &t2, int num_joints, const int num_points, std::vector< double > &time_diff)
 
static void init_times (const int n, double dt[], const double x[], const double max_velocity, const double min_velocity)
 
bool isTrajectoryEmpty (const moveit_msgs::RobotTrajectory &trajectory)
 
std::size_t trajectoryWaypointCount (const moveit_msgs::RobotTrajectory &trajectory)
 

Variables

static const double DEFAULT_ACCEL_MAX = 1.0
 
static const double DEFAULT_VEL_MAX = 1.0
 
static const double ROUNDING_THRESHOLD = 0.01
 

Function Documentation

static void trajectory_processing::adjust_two_positions ( const int  n,
const double  dt[],
double  x[],
double  x1[],
double  x2[],
const double  x2_i,
const double  x2_f 
)
static

Definition at line 432 of file iterative_spline_parameterization.cpp.

static void trajectory_processing::fit_cubic_spline ( const int  n,
const double  dt[],
const double  x[],
double  x1[],
double  x2[] 
)
static

Definition at line 386 of file iterative_spline_parameterization.cpp.

static int trajectory_processing::fit_spline_and_adjust_times ( const int  n,
double  dt[],
const double  x[],
double  x1[],
double  x2[],
const double  max_velocity,
const double  min_velocity,
const double  max_acceleration,
const double  min_acceleration,
const double  tfactor 
)
static

Definition at line 497 of file iterative_spline_parameterization.cpp.

static double trajectory_processing::global_adjustment_factor ( const int  n,
double  dt[],
const double  x[],
double  x1[],
double  x2[],
const double  max_velocity,
const double  min_velocity,
const double  max_acceleration,
const double  min_acceleration 
)
static

Definition at line 539 of file iterative_spline_parameterization.cpp.

void trajectory_processing::globalAdjustment ( std::vector< SingleJointTrajectory > &  t2,
int  num_joints,
const int  num_points,
std::vector< double > &  time_diff 
)

Definition at line 576 of file iterative_spline_parameterization.cpp.

static void trajectory_processing::init_times ( const int  n,
double  dt[],
const double  x[],
const double  max_velocity,
const double  min_velocity 
)
static

Definition at line 459 of file iterative_spline_parameterization.cpp.

bool trajectory_processing::isTrajectoryEmpty ( const moveit_msgs::RobotTrajectory &  trajectory)

Definition at line 41 of file trajectory_tools.cpp.

std::size_t trajectory_processing::trajectoryWaypointCount ( const moveit_msgs::RobotTrajectory &  trajectory)

Definition at line 46 of file trajectory_tools.cpp.

Variable Documentation

const double trajectory_processing::DEFAULT_ACCEL_MAX = 1.0
static

Definition at line 44 of file iterative_time_parameterization.cpp.

const double trajectory_processing::DEFAULT_VEL_MAX = 1.0
static

Definition at line 43 of file iterative_time_parameterization.cpp.

const double trajectory_processing::ROUNDING_THRESHOLD = 0.01
static

Definition at line 45 of file iterative_time_parameterization.cpp.



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