KunzRetimer.hpp File Reference

#include <Eigen/Dense>
#include "aikido/planner/TrajectoryPostProcessor.hpp"
#include "aikido/trajectory/Interpolated.hpp"
#include "aikido/trajectory/Spline.hpp"

Go to the source code of this file.

Classes
class	aikido::planner::kunzretimer::KunzRetimer
	Class for performing time-optimal trajectory retiming following subject to velocity and acceleration limits. More...
struct	aikido::planner::kunzretimer::KunzRetimer::Params
	Kunz postprocessor parameters. More...

Namespaces
	aikido
	Format of serialized trajectory in YAML.
	aikido::planner
	aikido::planner::kunzretimer

Functions
std::unique_ptr< aikido::trajectory::Spline >	aikido::planner::kunzretimer::computeKunzTiming (const aikido::trajectory::Interpolated &inputTrajectory, const Eigen::VectorXd &maxVelocity, const Eigen::VectorXd &maxAcceleration, double maxDeviation=DEFAULT_MAX_DEVIATION, double timeStep=DEFAULT_TIME_STEP)
	Computes the time-optimal timing of a trajectory consisting of a sequence Geodesic interpolations between states under velocity and acceleration bounds. More...

Variables
constexpr double	aikido::planner::kunzretimer::DEFAULT_MAX_DEVIATION = 1e-2
constexpr double	aikido::planner::kunzretimer::DEFAULT_TIME_STEP = 0.1