polynomial.h File Reference

TODO. More...

#include <stomp_core/utils.h>
#include <moveit/robot_model/robot_model.h>
#include <Eigen/Core>

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Classes
struct	stomp_moveit::utils::polynomial::PolyFitRequest
	The Polynomial Fit request data. More...
struct	stomp_moveit::utils::polynomial::PolyFitResults
	The Polynomial Fit results data. More...

Namespaces
	stomp_moveit

Functions
bool	stomp_moveit::utils::polynomial::applyPolynomialSmoothing (moveit::core::RobotModelConstPtr robot_model, const std::string &group_name, Eigen::MatrixXd &parameters, int poly_order=5, double joint_limit_margin=1e-5)
	Applies a polynomial smoothing method to a trajectory. It checks for joint limits and makes corrections when these are exceeded as a result of the smoothing process. More...
void	stomp_moveit::utils::polynomial::fillVandermondeMatrix (const Eigen::ArrayXd &domain_vals, const int &order, Eigen::MatrixXd &v)
	Generates a Vandermonde matrix from the domain values as described here https://en.wikipedia.org/wiki/Vandermonde_matrix. It uses the poly_order parameter in order to set the size of the matrix. More...
void	stomp_moveit::utils::polynomial::generateMinimumDomainValues (const std::vector< const moveit::core::JointModel * > joint_models, const Eigen::MatrixXd &parameters, Eigen::VectorXd &domain_values)
	Get the polynomial smoother domain values. More...
PolyFitResults	stomp_moveit::utils::polynomial::polyFit (const PolyFitRequest &request)
	Fit a polynomial with fixed indices. More...

Detailed Description

TODO.

Author

Jorge Nicho

Date

Jan 6, 2017

Version

TODO

Bug:

No known bugs

Copyright

Copyright (c) 2017, Southwest Research Institute

License

Software License Agreement (Apache License)

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Definition in file polynomial.h.

Function Documentation

bool stomp_moveit::utils::polynomial::applyPolynomialSmoothing	(	moveit::core::RobotModelConstPtr	robot_model,
		const std::string &	group_name,
		Eigen::MatrixXd &	parameters,
		int	poly_order = 5,
		double	joint_limit_margin = 1e-5
	)

Applies a polynomial smoothing method to a trajectory. It checks for joint limits and makes corrections when these are exceeded as a result of the smoothing process.

Parameters

robot_model
group_name
parameters
poly_order
joint_limit_margin

Returns

Definition at line 187 of file polynomial.cpp.

void stomp_moveit::utils::polynomial::fillVandermondeMatrix	(	const Eigen::ArrayXd &	domain_vals,
		const int &	order,
		Eigen::MatrixXd &	v
	)

Generates a Vandermonde matrix from the domain values as described here https://en.wikipedia.org/wiki/Vandermonde_matrix. It uses the poly_order parameter in order to set the size of the matrix.

Parameters

domain_vals	The domain values
order	The order of the polynomial
v	The output matrix

Definition at line 149 of file polynomial.cpp.

void stomp_moveit::utils::polynomial::generateMinimumDomainValues	(	const std::vector< const moveit::core::JointModel * >	joint_models,
		const Eigen::MatrixXd &	parameters,
		Eigen::VectorXd &	domain_values
	)

Get the polynomial smoother domain values.

The domain values is time. The time is calculated finding the joint that takes the longest given the total distance traveled and its max velocity. This is the dominating joint therefore its time is used as the domain values for the smoothing operation.

Parameters

joint_models	List of active joint models
parameters	The parameters generated in the previous iteration [num_dimensions x num_timesteps]
domain_values	The time domain values for the trajectory [num_timesteps]

Definition at line 156 of file polynomial.cpp.

PolyFitResults stomp_moveit::utils::polynomial::polyFit

(

const PolyFitRequest &

request

)

Fit a polynomial with fixed indices.

Parameters

request

The polynimal fit request data

Returns

The polynomial results

Definition at line 49 of file polynomial.cpp.