aikido::planner::parabolic::ParabolicTimer Class Reference

Class for performing parabolic retiming on trajectories. More...

#include <aikido/planner/parabolic/ParabolicTimer.hpp>

Inheritance diagram for aikido::planner::parabolic::ParabolicTimer:

Public Member Functions
	ParabolicTimer (const Eigen::VectorXd &_velocityLimits, const Eigen::VectorXd &_accelerationLimits)
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...

Private Attributes
const Eigen::VectorXd	mVelocityLimits
	Set to the value of _velocityLimits. More...
const Eigen::VectorXd	mAccelerationLimits
	Set to the value of _accelerationLimits. More...

Detailed Description

Class for performing parabolic retiming on trajectories.

Constructor & Destructor Documentation

ParabolicTimer()

aikido::planner::parabolic::ParabolicTimer::ParabolicTimer	(	const Eigen::VectorXd &	_velocityLimits,
		const Eigen::VectorXd &	_accelerationLimits
	)

Parameters

_velocityLimits	Maximum velocity for each dimension.
_accelerationLimits	Maximum acceleration for each dimension.

Member Function Documentation

postprocess() [1/2]

std::unique_ptr<aikido::trajectory::Spline> aikido::planner::parabolic::ParabolicTimer::postprocess ( const aikido::trajectory::Interpolated &  _inputTraj, const aikido::common::RNG &  _rng, const aikido::constraint::TestablePtr &  _constraint = nullptr  )

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]

std::unique_ptr<aikido::trajectory::Spline> aikido::planner::parabolic::ParabolicTimer::postprocess ( const aikido::trajectory::Spline &  _inputTraj, const aikido::common::RNG &  _rng, const aikido::constraint::TestablePtr &  _constraint = nullptr  )

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.

Member Data Documentation

mAccelerationLimits

const Eigen::VectorXd aikido::planner::parabolic::ParabolicTimer::mAccelerationLimits

private

Set to the value of _accelerationLimits.

mVelocityLimits

const Eigen::VectorXd aikido::planner::parabolic::ParabolicTimer::mVelocityLimits

private

Set to the value of _velocityLimits.