Classes | Functions | Variables
trajectory_processing Namespace Reference

Classes

class  CircularPathSegment
 
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...
 
class  LinearPathSegment
 
class  Path
 
class  PathSegment
 
struct  SingleJointTrajectory
 
class  TimeOptimalTrajectoryGeneration
 
class  Trajectory
 

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)
 
static double squared (double d)
 
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
 
constexpr double EPS = 0.000001
 
const std::string LOGNAME = "trajectory_processing.time_optimal_trajectory_generation"
 
static const double ROUNDING_THRESHOLD = 0.01
 

Function Documentation

◆ adjust_two_positions()

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 438 of file iterative_spline_parameterization.cpp.

◆ fit_cubic_spline()

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

Definition at line 392 of file iterative_spline_parameterization.cpp.

◆ fit_spline_and_adjust_times()

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 503 of file iterative_spline_parameterization.cpp.

◆ global_adjustment_factor()

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 545 of file iterative_spline_parameterization.cpp.

◆ globalAdjustment()

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

Definition at line 582 of file iterative_spline_parameterization.cpp.

◆ init_times()

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 465 of file iterative_spline_parameterization.cpp.

◆ isTrajectoryEmpty()

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

Definition at line 41 of file trajectory_tools.cpp.

◆ squared()

static double trajectory_processing::squared ( double  d)
static

Definition at line 315 of file time_optimal_trajectory_generation.cpp.

◆ trajectoryWaypointCount()

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

Definition at line 46 of file trajectory_tools.cpp.

Variable Documentation

◆ DEFAULT_ACCEL_MAX

const double trajectory_processing::DEFAULT_ACCEL_MAX = 1.0
static

Definition at line 44 of file iterative_time_parameterization.cpp.

◆ DEFAULT_VEL_MAX

const double trajectory_processing::DEFAULT_VEL_MAX = 1.0
static

Definition at line 43 of file iterative_time_parameterization.cpp.

◆ EPS

constexpr double trajectory_processing::EPS = 0.000001

Definition at line 53 of file time_optimal_trajectory_generation.cpp.

◆ LOGNAME

const std::string trajectory_processing::LOGNAME = "trajectory_processing.time_optimal_trajectory_generation"

Definition at line 52 of file time_optimal_trajectory_generation.cpp.

◆ ROUNDING_THRESHOLD

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 Fri May 17 2019 02:51:54