iterative_time_parameterization.h
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34 
35 /* Author: Ken Anderson */
36 
37 #pragma once
38 
41 
42 namespace trajectory_processing
43 {
46 MOVEIT_CLASS_FORWARD(IterativeParabolicTimeParameterization);
47 class IterativeParabolicTimeParameterization : public TimeParameterization
48 {
49 public:
50  IterativeParabolicTimeParameterization(unsigned int max_iterations = 100, double max_time_change_per_it = .01);
51 
52  bool computeTimeStamps(robot_trajectory::RobotTrajectory& trajectory, const double max_velocity_scaling_factor = 1.0,
53  const double max_acceleration_scaling_factor = 1.0) const override;
54 
55  static void updateTrajectory(robot_trajectory::RobotTrajectory& rob_trajectory, const std::vector<double>& time_diff);
56 
57 private:
58  unsigned int max_iterations_;
60 
61  void applyVelocityConstraints(robot_trajectory::RobotTrajectory& rob_trajectory, std::vector<double>& time_diff,
62  const double max_velocity_scaling_factor) const;
63 
64  void applyAccelerationConstraints(robot_trajectory::RobotTrajectory& rob_trajectory, std::vector<double>& time_diff,
65  const double max_acceleration_scaling_factor) const;
66 
67  double findT1(const double d1, const double d2, double t1, const double t2, const double a_max) const;
68  double findT2(const double d1, const double d2, const double t1, double t2, const double a_max) const;
69 };
70 
71 } // namespace trajectory_processing
trajectory_processing::IterativeParabolicTimeParameterization::max_iterations_
unsigned int max_iterations_
Definition: iterative_time_parameterization.h:90
trajectory_processing::IterativeParabolicTimeParameterization::updateTrajectory
static void updateTrajectory(robot_trajectory::RobotTrajectory &rob_trajectory, const std::vector< double > &time_diff)
Definition: iterative_time_parameterization.cpp:220
robot_trajectory.h
robot_trajectory::RobotTrajectory
Maintain a sequence of waypoints and the time durations between these waypoints.
Definition: robot_trajectory.h:84
trajectory_processing::IterativeParabolicTimeParameterization::IterativeParabolicTimeParameterization
IterativeParabolicTimeParameterization(unsigned int max_iterations=100, double max_time_change_per_it=.01)
Definition: iterative_time_parameterization.cpp:79
time_parameterization.h
trajectory_processing::IterativeParabolicTimeParameterization::findT1
double findT1(const double d1, const double d2, double t1, const double t2, const double a_max) const
Definition: iterative_time_parameterization.cpp:180
trajectory_processing
Definition: iterative_spline_parameterization.h:43
trajectory_processing::IterativeParabolicTimeParameterization::applyVelocityConstraints
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
Definition: iterative_time_parameterization.cpp:133
trajectory_processing::IterativeParabolicTimeParameterization::findT2
double findT2(const double d1, const double d2, const double t1, double t2, const double a_max) const
Definition: iterative_time_parameterization.cpp:199
trajectory_processing::IterativeParabolicTimeParameterization::applyAccelerationConstraints
void applyAccelerationConstraints(robot_trajectory::RobotTrajectory &rob_trajectory, std::vector< double > &time_diff, const double max_acceleration_scaling_factor) const
Definition: iterative_time_parameterization.cpp:330
trajectory_processing::IterativeParabolicTimeParameterization::computeTimeStamps
bool computeTimeStamps(robot_trajectory::RobotTrajectory &trajectory, const double max_velocity_scaling_factor=1.0, const double max_acceleration_scaling_factor=1.0) const override
Definition: iterative_time_parameterization.cpp:490
trajectory_processing::IterativeParabolicTimeParameterization::max_time_change_per_it_
double max_time_change_per_it_
maximum number of iterations to find solution
Definition: iterative_time_parameterization.h:91
trajectory_processing::MOVEIT_CLASS_FORWARD
MOVEIT_CLASS_FORWARD(IterativeParabolicTimeParameterization)
This class modifies the timestamps of a trajectory to respect velocity and acceleration constraints.


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Tue Dec 24 2024 03:27:14