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 double global_adjustment_factor (const int n, 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)
 
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 429 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 383 of file iterative_spline_parameterization.cpp.

◆ global_adjustment_factor()

static double trajectory_processing::global_adjustment_factor ( const int  n,
double  x1[],
double  x2[],
const double  max_velocity,
const double  min_velocity,
const double  max_acceleration,
const double  min_acceleration 
)
static

Definition at line 538 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 573 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 456 of file iterative_spline_parameterization.cpp.

◆ isTrajectoryEmpty()

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

Definition at line 73 of file trajectory_tools.cpp.

◆ trajectoryWaypointCount()

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

Definition at line 78 of file trajectory_tools.cpp.

Variable Documentation

◆ DEFAULT_ACCEL_MAX

const double trajectory_processing::DEFAULT_ACCEL_MAX = 1.0
static

Definition at line 76 of file iterative_time_parameterization.cpp.

◆ DEFAULT_VEL_MAX

const double trajectory_processing::DEFAULT_VEL_MAX = 1.0
static

Definition at line 75 of file iterative_time_parameterization.cpp.

◆ EPS

constexpr double trajectory_processing::EPS = 0.000001
constexpr

Definition at line 50 of file time_optimal_trajectory_generation.cpp.

◆ LOGNAME

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

Definition at line 49 of file time_optimal_trajectory_generation.cpp.

◆ ROUNDING_THRESHOLD

const double trajectory_processing::ROUNDING_THRESHOLD = 0.01
static

Definition at line 77 of file iterative_time_parameterization.cpp.



moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sun Nov 21 2021 03:25:58