iterative_time_parameterization.h
Go to the documentation of this file.
1 /*********************************************************************
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2011, Willow Garage, Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of Willow Garage nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *********************************************************************/
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 Wed Jul 10 2019 04:03:05