aikido::planner::TrajectoryPostProcessor Class Reference

#include <aikido/planner/TrajectoryPostProcessor.hpp>

Inheritance diagram for aikido::planner::TrajectoryPostProcessor:

Public Member Functions
virtual std::unique_ptr< aikido::trajectory::Spline >	postprocess (const aikido::trajectory::Interpolated &_inputTraj, const aikido::common::RNG &_rng, const aikido::constraint::TestablePtr &_constraint)=0
virtual std::unique_ptr< aikido::trajectory::Spline >	postprocess (const trajectory::Spline &_inputTraj, const aikido::common::RNG &_rng, const aikido::constraint::TestablePtr &_constraint)=0

Member Function Documentation

postprocess() [1/2]

virtual std::unique_ptr<aikido::trajectory::Spline> aikido::planner::TrajectoryPostProcessor::postprocess ( const aikido::trajectory::Interpolated &  _inputTraj, const aikido::common::RNG &  _rng, const aikido::constraint::TestablePtr &  _constraint  )

pure virtual

Parameters

_inputTraj	The untimed trajectory for the arm to process.
_rng	Random number generator.
_constraint	Must be satisfied after processing.

Implemented in aikido::planner::kunzretimer::KunzRetimer, aikido::planner::parabolic::ParabolicTimer, and aikido::planner::parabolic::ParabolicSmoother.

postprocess() [2/2]

virtual std::unique_ptr<aikido::trajectory::Spline> aikido::planner::TrajectoryPostProcessor::postprocess ( const trajectory::Spline &  _inputTraj, const aikido::common::RNG &  _rng, const aikido::constraint::TestablePtr &  _constraint  )

pure virtual

Parameters

_inputTraj	The untimed spline trajectory for the arm to process.
_rng	Random number generator.
_constraint	Must be satisfied after processing.

Implemented in aikido::planner::kunzretimer::KunzRetimer, aikido::planner::parabolic::ParabolicTimer, and aikido::planner::parabolic::ParabolicSmoother.