aikido::planner::kunzretimer::KunzRetimer Class Reference
Class for performing time-optimal trajectory retiming following subject to velocity and acceleration limits. More...
#include <aikido/planner/kunzretimer/KunzRetimer.hpp>
Inheritance diagram for aikido::planner::kunzretimer::KunzRetimer:
Classes | |
| struct | Params |
| Kunz postprocessor parameters. More... | |
Public Member Functions | |
| KunzRetimer (const Eigen::VectorXd &velocityLimits, const Eigen::VectorXd &accelerationLimits, double maxDeviation=DEFAULT_MAX_DEVIATION, double timeStep=DEFAULT_TIME_STEP) | |
| KunzRetimer (const Eigen::VectorXd &velocityLimits, const Eigen::VectorXd &accelerationLimits, const Params ¶ms) | |
| std::unique_ptr< aikido::trajectory::Spline > | postprocess (const aikido::trajectory::Interpolated &inputTraj, const aikido::common::RNG &rng, const aikido::constraint::TestablePtr &constraint=nullptr) override |
| Performs parabolic retiming on an input trajectory. More... | |
| std::unique_ptr< aikido::trajectory::Spline > | postprocess (const aikido::trajectory::Spline &inputTraj, const aikido::common::RNG &rng, const aikido::constraint::TestablePtr &constraint=nullptr) override |
| Performs parabolic retiming on an input spline trajectory. More... | |
| const Eigen::VectorXd & | getVelocityLimits () const |
| Returns the velocity limits of the dimensions. More... | |
| const Eigen::VectorXd & | getAccelerationLimits () const |
| Returns the acceleration limits of the dimensions. More... | |
| void | setVelocityLimits (const Eigen::VectorXd &velocityLimits) |
| Sets the velocity limits of the dimensions. More... | |
| void | setAccelerationLimits (const Eigen::VectorXd &accelerationLimits) |
| Sets the acceleration limits of the dimensions. More... | |
| double | getTimeStep () const |
| Returns the time step in following a path. More... | |
| void | setTimeStep (double timeStep) |
| Sets the time step in following a path. More... | |
| double | getMaxDeviation () const |
| Returns the max deviation of circular blending. More... | |
| void | setMaxDeviation (double maxDeviation) |
| Sets the max deviation of circular blending. More... | |
Private Attributes | |
| Eigen::VectorXd | mVelocityLimits |
Set to the value of velocityLimits. More... | |
| Eigen::VectorXd | mAccelerationLimits |
Set to the value of accelerationLimits. More... | |
| double | mMaxDeviation |
Set to the value of maxDeviation. More... | |
| double | mTimeStep |
Set to the value of timeStep. More... | |
Detailed Description
Class for performing time-optimal trajectory retiming following subject to velocity and acceleration limits.
Constructor & Destructor Documentation
◆ KunzRetimer() [1/2]
| aikido::planner::kunzretimer::KunzRetimer::KunzRetimer | ( | const Eigen::VectorXd & | velocityLimits, |
| const Eigen::VectorXd & | accelerationLimits, | ||
| double | maxDeviation = DEFAULT_MAX_DEVIATION, |
||
| double | timeStep = DEFAULT_TIME_STEP |
||
| ) |
- Parameters
-
[in] velocityLimits Maximum velocity for each dimension. [in] accelerationLimits Maximum acceleration for each dimension. [in] maxDeviation Maximum deviation in circular blending (in configuration space). [in] timeStep Time step in following the path (in seconds).
◆ KunzRetimer() [2/2]
| aikido::planner::kunzretimer::KunzRetimer::KunzRetimer | ( | const Eigen::VectorXd & | velocityLimits, |
| const Eigen::VectorXd & | accelerationLimits, | ||
| const Params & | params | ||
| ) |
- Parameters
-
[in] velocityLimits Maximum velocity for each dimension. [in] accelerationLimits Maximum acceleration for each dimension. [in] params Postprocessor parameters.
Member Function Documentation
◆ getAccelerationLimits()
| const Eigen::VectorXd& aikido::planner::kunzretimer::KunzRetimer::getAccelerationLimits | ( | ) | const |
Returns the acceleration limits of the dimensions.
◆ getMaxDeviation()
| double aikido::planner::kunzretimer::KunzRetimer::getMaxDeviation | ( | ) | const |
Returns the max deviation of circular blending.
◆ getTimeStep()
| double aikido::planner::kunzretimer::KunzRetimer::getTimeStep | ( | ) | const |
Returns the time step in following a path.
◆ getVelocityLimits()
| const Eigen::VectorXd& aikido::planner::kunzretimer::KunzRetimer::getVelocityLimits | ( | ) | const |
Returns the velocity limits of the dimensions.
◆ postprocess() [1/2]
|
overridevirtual |
Performs parabolic retiming on an input trajectory.
- Parameters
-
_inputTraj The untimed trajectory for the arm to process. _rng Random number generator. _constraint Must be satisfied after processing.
Implements aikido::planner::TrajectoryPostProcessor.
◆ postprocess() [2/2]
|
overridevirtual |
Performs parabolic retiming on an input spline trajectory.
- Parameters
-
_inputTraj The untimed trajectory for the arm to process. _rng Random number generator. _constraint Must be satisfied after processing.
Implements aikido::planner::TrajectoryPostProcessor.
◆ setAccelerationLimits()
| void aikido::planner::kunzretimer::KunzRetimer::setAccelerationLimits | ( | const Eigen::VectorXd & | accelerationLimits | ) |
Sets the acceleration limits of the dimensions.
◆ setMaxDeviation()
| void aikido::planner::kunzretimer::KunzRetimer::setMaxDeviation | ( | double | maxDeviation | ) |
Sets the max deviation of circular blending.
◆ setTimeStep()
| void aikido::planner::kunzretimer::KunzRetimer::setTimeStep | ( | double | timeStep | ) |
Sets the time step in following a path.
◆ setVelocityLimits()
| void aikido::planner::kunzretimer::KunzRetimer::setVelocityLimits | ( | const Eigen::VectorXd & | velocityLimits | ) |
Sets the velocity limits of the dimensions.
Member Data Documentation
◆ mAccelerationLimits
|
private |
Set to the value of accelerationLimits.
◆ mMaxDeviation
|
private |
Set to the value of maxDeviation.
◆ mTimeStep
|
private |
Set to the value of timeStep.
◆ mVelocityLimits
|
private |
Set to the value of velocityLimits.
