trajectory_processing::IterativeParabolicTimeParameterization Class Reference

#include <iterative_time_parameterization.h>

Inheritance diagram for trajectory_processing::IterativeParabolicTimeParameterization:

Public Member Functions
bool	computeTimeStamps (robot_trajectory::RobotTrajectory &trajectory, const double max_velocity_scaling_factor=1.0, const double max_acceleration_scaling_factor=1.0) const override
	IterativeParabolicTimeParameterization (unsigned int max_iterations=100, double max_time_change_per_it=.01)
Public Member Functions inherited from trajectory_processing::TimeParameterization
virtual	~TimeParameterization ()=default

Static Public Member Functions
static void	updateTrajectory (robot_trajectory::RobotTrajectory &rob_trajectory, const std::vector< double > &time_diff)

Private Member Functions
void	applyAccelerationConstraints (robot_trajectory::RobotTrajectory &rob_trajectory, std::vector< double > &time_diff, const double max_acceleration_scaling_factor) 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 More...
double	findT1 (const double d1, const double d2, double t1, const double t2, const double a_max) const
double	findT2 (const double d1, const double d2, const double t1, double t2, const double a_max) const

Private Attributes
unsigned int	max_iterations_
double	max_time_change_per_it_
	maximum number of iterations to find solution More...

Detailed Description

Definition at line 79 of file iterative_time_parameterization.h.

Constructor & Destructor Documentation

IterativeParabolicTimeParameterization()

trajectory_processing::IterativeParabolicTimeParameterization::IterativeParabolicTimeParameterization	(	unsigned int	max_iterations = 100,
		double	max_time_change_per_it = .01
	)

Definition at line 79 of file iterative_time_parameterization.cpp.

Member Function Documentation

applyAccelerationConstraints()

void trajectory_processing::IterativeParabolicTimeParameterization::applyAccelerationConstraints ( robot_trajectory::RobotTrajectory &  rob_trajectory, std::vector< double > &  time_diff, const double  max_acceleration_scaling_factor  ) const

private

Definition at line 330 of file iterative_time_parameterization.cpp.

applyVelocityConstraints()

void trajectory_processing::IterativeParabolicTimeParameterization::applyVelocityConstraints ( robot_trajectory::RobotTrajectory &  rob_trajectory, std::vector< double > &  time_diff, const double  max_velocity_scaling_factor  ) const

private

maximum allowed time change per iteration in seconds

Definition at line 133 of file iterative_time_parameterization.cpp.

computeTimeStamps()

bool trajectory_processing::IterativeParabolicTimeParameterization::computeTimeStamps ( robot_trajectory::RobotTrajectory &  trajectory, const double  max_velocity_scaling_factor = 1.0, const double  max_acceleration_scaling_factor = 1.0  ) const

overridevirtual

Implements trajectory_processing::TimeParameterization.

Definition at line 490 of file iterative_time_parameterization.cpp.

findT1()

double trajectory_processing::IterativeParabolicTimeParameterization::findT1 ( const double  d1, const double  d2, double  t1, const double  t2, const double  a_max  ) const

private

Definition at line 180 of file iterative_time_parameterization.cpp.

findT2()

double trajectory_processing::IterativeParabolicTimeParameterization::findT2 ( const double  d1, const double  d2, const double  t1, double  t2, const double  a_max  ) const

private

Definition at line 199 of file iterative_time_parameterization.cpp.

updateTrajectory()

void trajectory_processing::IterativeParabolicTimeParameterization::updateTrajectory ( robot_trajectory::RobotTrajectory &  rob_trajectory, const std::vector< double > &  time_diff  )

static

Definition at line 220 of file iterative_time_parameterization.cpp.

Member Data Documentation

max_iterations_

unsigned int trajectory_processing::IterativeParabolicTimeParameterization::max_iterations_

private

Definition at line 90 of file iterative_time_parameterization.h.

max_time_change_per_it_

double trajectory_processing::IterativeParabolicTimeParameterization::max_time_change_per_it_

private

maximum number of iterations to find solution

Definition at line 91 of file iterative_time_parameterization.h.

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The documentation for this class was generated from the following files:

• iterative_time_parameterization.h
• iterative_time_parameterization.cpp