iterative_spline_parameterization.h
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35 
36 /* Author: Ken Anderson */
37 
38 #ifndef MOVEIT_TRAJECTORY_PROCESSING_ITERATIVE_SPLINE_PARAMETERIZATION__
39 #define MOVEIT_TRAJECTORY_PROCESSING_ITERATIVE_SPLINE_PARAMETERIZATION__
40 
42 
44 {
72 {
73 public:
74  IterativeSplineParameterization(bool add_points = true);
76 
77  bool computeTimeStamps(robot_trajectory::RobotTrajectory& trajectory, const double max_velocity_scaling_factor = 1.0,
78  const double max_acceleration_scaling_factor = 1.0) const;
79 
80 private:
81  bool add_points_;
82 };
84 } // namespace trajectory_processing
85 
86 #endif
Maintain a sequence of waypoints and the time durations between these waypoints.
bool computeTimeStamps(robot_trajectory::RobotTrajectory &trajectory, const double max_velocity_scaling_factor=1.0, const double max_acceleration_scaling_factor=1.0) const
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.


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Tue Sep 8 2020 04:12:45